Did you ever really know where that game was headed?

Brighton took the lead, Manchester United levelled, United went ahead, Brighton levelled, and Rachel Williams left it late to seal a first spot in the final for the Reds.

That's all from us on this one - but we'll be back tomorrow for coverage of Chelsea's semi-final with Aston Villa.

For now, though, I'll leave you with Emma Smith's report from Leigh Sports Village.

Manchester United

Manchester United’s Rachel Williams, speaking to BBC Sport: "I saw the keeper coming and thought, just round her. Keep it down, you don’t need any power. Emotions and tensions are high – just slot it home.

"To get that today and send us through feels amazing, but credit to everyone here. The season we’re having, to now have an FA Cup final is the reward we deserve.

"I love the FA Cup. I sat it out last year but wanted to be there next year. I’m just very proud of myself."

There are still fans at Leigh Sports Village singing "Que sera sera".

It's been a big run for United.

Image source, Getty Images

Who do you think will join Manchester United in the final?

Hit the thumb's up for Chelsea, or the thumb's down for Aston Villa.

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Manchester United

Marc Skinner, Manchester United manager, speaking to BBC Sport: "It was the good, the bad and the ugly. Brighton were excellent. We were off it in the first half.

"We made an uncharacteristic mistake for one of our goals. In the end, the result matters and we’re at Wembley.

"The rhythm of the game wasn’t there [in the first half]. We were walking for throw-ins and let Brighton get set up in a block. That’s not us.

"It’s those little characteristics that you have to look out for. I asked them to be responsible [at half-time] and they were responsible in the second half."

"It means a lot. I’m here to win. We’ve got to improve on that performance. It’s good to be there [at Wembley], but I want to be there and make sure we give these fans what they want."

On Rachel Williams: "She’s a veteran in the league but to make that happen, she deserves it. She does everything for this team."

Image source, Getty Images

Brighton & Hove Albion

Brighton manager Melissa Phillips, speaking to BBC Sport: "We came here to make a good account of ourselves. This is day one effectively. The performances have always been there, it was the fight, the attitude. They were brilliant. It was just needing a bit of identity and belief. The girls executed it brilliantly."

On what she's managed to do after just two days of training: "It's just a bit of positivity and optimism, speaking about the direction we want to go in. There's a lot to take from today to do that.

"The resilience they showed was brilliant. There will be a few key places where we can manage the game better but it's about the attitude today."

We'll be bringing you all the reaction from the managers shortly - so stay tuned.

Brighton fans may want to look away now.

For everybody else, here's the moment that sealed Manchester United's spot in the FA Cup final:

What a game.

Image source, Getty Images

Manchester United will face the winner of tomorrow's game between Chelsea and Aston Villa in next month's FA Cup final.

Gilly Flaherty
Former England defender on BBC Two

Brighton can take that performance, take it into the league. They didn't look bottom of the table in that game. There's so many positives they can take into the rest of the WSL.

Hope Powell
Former England and Brighton manager on BBC Two

If you look at that display today, Brighton have every chance of staying in the WSL. Manchester United were putting the ball in the corner to try and kill time. Tremendous performance, tremendous game, but only one winner.

Manchester United reach the FA Cup final for the first time!

History for the Reds just five years since their senior women's team was reformed.

It's heartbreak for Brighton, but that was a very strong performance from the Women's Super League's bottom-placed side in Melissa Phillips' first game in charge. That will be encouraging.

Image source, Getty Images

Manchester United have a free-kick in front of the dugouts in the final seconds. The game is almost up.

We're into the final minute of injury time.

The hosts are digging deep now and are sitting far deeper than they have for the rest of the game. Will they be able to find their way through?

The fourth official's board is constantly up. Aoife Mannion replaces Leah Galton. United are going defensive to try and hold onto their lead.

Here was the moment that gave Brighton hope...

It could mean little now.

Five minutes are shown on the fourth official's board. Can United hold on?

Katie Robinson, who was down injured as United raced forwards, is replaced by Brianna Visalli.