Junior Chipolopolo overcame the Ivory Coast on penalties after both legs of the tie ended in goalless draws.
Qualification for the tournament in Senegal in November and December is important because the top three teams at the event will earn a place at the 2016 Olympics in Rio de Janeiro.
"We now need to sit down and start planning for Senegal. We need to play international friendlies before going to Senegal," he added.
However, sentiment after the team's qualification was not all positive, with Zambia sports minister Vincent Mwale saying junior Chipolopolo needed to work on their finishing if they are to succeed in Senegal.
"Our striking force was blunt; we could not score. Now we have to prepare adequately as we're going to Senegal in December," Mwale said. "Our eyes are on Rio 2016, they should not relax."