So, now we know. Clear your diaries, circle the date, and get those hotels booked.

Manchester City versus Manchester United in the 2023 FA Cup final at Wembley on Saturday, 3 June.

The team in blue going for a Premier League, Champions League and FA Cup Treble. The team in red going for a domestic cup double.

It's going to be epic!

Read Phil McNulty's semi-final report from Wembley here.

And head here for all the latest football news. Goodnight.

Brighton & Hove Albion

Image source, PA Media

Brighton boss Roberto de Zerbi, speaking about Solly March's penalty miss: "In penalties anything can happen. You can make mistakes. March is one of the best players in our team and I'm proud of him and the rest of the players, especially today.

"He [March] is sad but I repeat, we have to close this day and tomorrow we have to think about another game. We need the possibility to forget. We want to achieve in Europe."

Simon Stone
BBC Sport at Wembley Stadium

Image source, Getty Images

Manchester United manager Erik ten Hag has spoken in his press conference about his delight at Marcus Rashford and Jadon Sancho both scoring penalties in the shootout.

The pair were racially abused, along with team-mate Bukayo Saka, for missing in the Euro 2020 final shoot-out defeat by Italy.

"We knew about that but we also knew they were comfortable with penalties," he said.

"This was a different occasion. It is great they have this experience now."

Manchester United

Image source, Rex Features

Erik ten Hag on facing Manchester City in the final on 3 June: "It's going to be a great final, but first we have other things to focus on. It's important to get into the Champions League next season.

"We have to perform again on Thursday and Sunday. We've shown so often this season that we can do that. It shows the character and ambition of this team."

Brighton & Hove Albion

Image source, Reuters

Brighton manager Roberto de Zerbi tells BBC One: "It's football. We are disappointed and very sad. We played a great game. We have a lot of injuries and we suffered due to this situation. It's sad for us and for our fans.

"Usually in penalties the winner is the one who doesn't deserve it. We made some mistakes in the final pass around the goal area but I'm really pleased with the performance from my players.

"We have to close this page and think about the next game on Wednesday in Nottingham. We have a lot of games and want to get into Europe."

Anguish for Brighton who did so well for the majority of the game. A Solly March penalty miss means they will not be returning for the final.

Image source, Getty Images

Image source, Getty Images

Image source, Getty Images

Harold Jarman: All a bit frantic, thought Brighton edged it 55/45 and with a bit more composure in front of goal could have won it, no problem with United winning after 13 great pens with just the one miss (left footer again!) Got to feel for Brighton and hope they finish season strongly and qualify for Europe, they have been superb this season.

Manchester United

Image source, Getty Images

Manchester United won an FA Cup penalty shootout for the first time in the club’s history, having lost each of their first four before today.

Celebrations unfold as Manchester United set up a derby against the blue-half of the city in the final.

Image source, Getty Images

Image source, Getty Images

Image source, Getty Images

Manchester United

Image source, Reuters

Manchester United manager Erik ten Hag tells BBC One: "On Thursday I saw a team I didn't recognise but today we went back to usual. I could see determination and resilience. We fought for every yard and competed in every battle. We had good chances."

On Victor Lindelof scoring the winning penalty: "He is quite cool when it comes to penalties and he's quite cool in general.

"I thought Victor and Luke Shaw played brilliantly. They had great co-operation with Casemiro."

On David de Gea keeping a clean sheet: "I was very impressed with him. He made some brilliant saves. It hurt when he made mistakes on Thursday.

"Often when you make mistakes as a keeper you get punished. We let him down, we didn't fight back for him. We bounced back today though."

Image source, Reuters

Andy: Heart-breaking way to lose and Solly March had a brilliant game. You did yourselves proud Brighton.

Manchester United

Image source, Reuters

Manchester United defender Victor Lindelof tells BBC One: "It felt great [scoring the winning penalty]. It was a great relief and we're glad to be in the final.

"I have confidence in myself and I knew which penalty I wanted to take and that's what I did."

On picking up a clean sheet: "We defended well. Brighton played well. They are confident with the ball but it felt good to keep a clean sheet."

Image source, Reuters

Dallas Cowboys Liverpool FC: Penalties what a terrible way to go out of a competition for any team. But then again, what is the alternative?

40 years on and Brighton undone by Man Utd once again.

Manchester United

Image source, Reuters

For only a third time in the club’s history, Manchester United have reached the final of both the League Cup and FA Cup in the same season, also doing so in 1982-83 and 1993-94.

Alan Shearer
Former England striker on BBC One

It's going in the right direction for Manchester United.

The manager has made some big decisions this season but they appear to be working, one trophy already won and potentially another on the way.

Glenn Murray, speaking on BBC One, says the whole world will tune in to watch the first all-Manchester FA Cup final on 3 June.