"I turned the match in the second set and even when I was 3-1 down in the third I felt in control," Stepanek said.
"It's going to be a tough final, but I am prepared for it," Stepanek added.
Both Stepanek, the tournament's sixth-seed, and Rochus will be after their first ATP singles title. The winner pockets $175,000.
The 27-year-old Stepanek has lost three previous finals. Rochus lost his only final appearance at Valencia in 2003.
Astronomers offer more expansive view of universe
Beautician charged with giving client fatal silicone butt injection