Clinton Morrison
Former Crystal Palace striker on BBC One

We all talk about Wilfried Zaha, but Andros Townsend has really stepped up to the plate this season.

Underway in both matches. Which teams will book their place in the quarter-finals?

Gary Flintoff
BBC Radio 5 live reporter at Keepmoat Stadium

Good news for those Crystal Palace fans heading to Doncaster. It looks like most of them have arrived in time for the game despite all the problems on the trains.

Clinton Morrison
Former Crystal Palace striker on BBC One

Doncaster are doing ever so well, give Grant some credit. James Coppinger is a legend here, he has great delivery from the right, and he’s why Marquis scores a lot of goals.

The players are heading out onto the pitch at the Swansea City stadium and at the Keepmoat. Predictions?

Crystal Palace manager Roy Hodgson speaking to BBC One: "We’ve chosen a strong team, there were a couple of players not available to me with injuries but this is the best team I could have put out."

Danny Murphy
Former Liverpool and England midfielder on BBC One

It’s a fantastic opportunity for both teams, but especially for Palace. A lot of big teams have gone out, and there is no reason why Palace shouldn’t have the quality to go through today.

Swansea City manager Graham Potter: "I want to win the game in the FA Cup. I think we've got a good squad this year.

"If I made changes, it wouldn't be because I want to go out of the cup, it'd be because I want to win the cup and win a cup game. There's a quarter-final place at stake.

"[To make the quarter-finals] would be another incredible achievement for these players, but it's a very tough game and I'm looking forward to it."

Image source, Getty Images

Doncaster Rovers manager Grant McCann speaking to BBC One: "We’re looking forward it, it’s a huge task and a great occasion for the fans. It’s for them really.

"We will stick to our game plane it its good enough then brilliant, but if not at least we have given it a go.

"They (the players) have to enjoy it, they like the big occasions, but it’s an unbelievable experience for a lot of these young boys.

"They want to play in the Championship and the Premier League, and this could be a good marker for them."

Gary Flintoff
BBC Radio 5 live reporter at Keepmoat Stadium

Image source, .

Doncaster Rovers v Crystal Palace is live on BBC One, but if you can’t watch, then listen to former Everton midfielder Leon Osman alongside Arlo White on BBC Radio 5 live and the BBC Sport website and app from 16:00 GMT.

The Swans are aiming to reach the FA Cup quarter-finals in consecutive seasons for the first time since 1926-27.

And they have a good chance given they have won 13 of their last 15 FA Cup home matches against non-Premier League opposition.

Brentford on the otherhand are playing in the FA Cup fifth round for the first time since 2006, and last reached the quarter-finals in 1989.

Crystal Palace manager Roy Hodgson: "Now, more than ever, you need to be wary in these sort of games.

"If you lose to a lower league team, it is seen as a giant-killing. If we had lost to Tottenham, no-one would have batted an eyelid.

"I am convinced that no Palace player will enter the field with a feeling of complacency, or underestimating our opponent. We have to make sure we do what we are capable of doing."

Image source, Getty Images

Swansea top scorer Oli McBurnie was full of praise for manager Graham Potter.

Doncaster Rovers manager Grant McCann: "We won't change the way we play. We will play our game.

"I'd be mad to try to sit behind the ball against Crystal Palace and let them have the ball.

"If it's good enough, then great. If it's not, at least we gave it a good go."

Image source, Getty Images

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This is the battle of the Championship mid-table sides, and I think it will be as close as their league positions would suggest.

Prediction: 1-1 (Brentford to win on penalties)

Lawro's full predictions v Radio 1Xtra DJs Big Zuu & Trevor Nelson

Vicki Sparks
BBC Radio 5 live correspondent

Amidst a backdrop of unrest and discontent with Swansea's owners - despite the resignation of long-serving chairman Huw Jenkins earlier this month - supporters certainly remain behind manager Graham Potter and his players.

The Welsh club have sailed through the previous rounds but will face a tough test from a Brentford side who, after a rocky start, have found their feet under Thomas Frank - losing only one of their last 12 matches.

Coincidentally, these two were set to face each other in the Championship this weekend - where they're currently separated by just four points. Instead, they'll face off in the FA Cup for only the second time.

Doncaster are unbeaten at home since losing to Sunderland in October but last beat a top-flight side in the FA Cup in 1985 - a 1-0 win over QPR in the third round.

Palace are in the FA Cup fifth round for the third time in five seasons but are vowing for a place in the quarter-finals for just the second time in 24 years, having done so as part of their run to the final in 2016.

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Bristol City manager Lee Johnson speaking to Match of the Day: “I think we had the chances to pull it off. We just couldn't get it over the line.

"I was very proud of the second-half performance. We have to remember where we've come from. Wolves are seventh in the Premier league, so for us to perform the way we did in the second half after a very mediocre first-half performance - they boys deserve credit for that.

"We needed to apply more pressure [after half-time] so we changed our system a little. I thought we pegged them back in the second half.

"I'm hurting because we wanted to progress in the competition. But we showed our identity in the second half and there'll be many more big games like that between now and the end of the season."