Thanks for tuning in to today's coverage of the Women's FA Cup semi-finals as Manchester United booked their ticket to Wembley with a first victory over Chelsea in the club's history.

That's all for today, but we'll have live text updates from 18:15 BST on today's only Women's Super League game as Arsenal take on Bristol City (kick-off is 18:45 BST). Click here to follow that one.

For now, here's the highlights from United's victory and Tottenham's last-minute win against Leicester in the other semi-final.

The two will meet at Wembley on Sunday, 12 May.

Chelsea

Chelsea manager Emma Hayes speaking to BBC Sport: "You can't defend as a team like that and expect a maximum result. It changes the course of the game. A mistake in the first minute doesn't help a side. These things happen in football.

"We dominated the ball and the attacks. We get a goal at half-time. Back in the game, Mary Earps produces a couple of world class saves and it was our turn to be on the receiving end of not getting the big referring decisions today.

On going out of the FA Cup: "I'm grateful for everything. I've been unbeaten in four years, that's an unbelievable record. As always I'm reflective on what I need to do. Congratulations to Manchester United. Their fans but in a great shift for them and as a team they performed at a good level and just congrats to them."

On facing Aston Villa in the WSL before Barcelona in the Champions League: "We have to get on with, we've got a lot of games to go."

Manchester United

More from Manchester United boss Marc Skinner speaking to the BBC...

On Rachel Williams:"She always contributes. A huge character of the game, this is why the women's game is so unique. She has come from grassroots up and is scoring in big moments to take us to major finals. She did it last year and has done it this year. Football wise you can look at other aspects but it is her character. If you can build your team around players like that and characters like that you will go on to have success.

On ups and downs this season:" When it is all smooth nobody learns. When there are bumps in the road it makes you take awareness of what's going on. There are things you always have to adapt and evolve.

"I will be very clear, we've won nothing yet. We are in a final and that is great, but we have to have the same energy and commitment in our games between now and the end of the season. We are not quite there yet in terms of being at the very top, but we are working towards it.

"Days like today show the other side of Manchester United, not just the pretty football. Today is not how we want to play football but at times you have to in order to win games. And we've done it.

Drinks on the gaffer tonight?:"That is apparently right, yeah. 50p each!"

Manchester United

Manchester United boss Marc Skinner speaking to the BBC: "We said all week that we were going to have to suffer. Chelsea have an abundance of talent in every position and they can bring more on. So we knew we would suffer.

"Tooney said to me in the first half, 'Mark I'm doing doggies,' and I said 'Yes, we need to,' it is part of these types of games. To beata Chelsea team like this you have got to dig in. Every player played their part, from the starting XI to the players that came on, the magnificent fans, everyone did their bit.

"As a coach these are the real moments that make it worthwhile. When you feel the collective energy of a team like Manchester United it makes you feel alive. These players performed alive today and that is why we won the game.

On his pre-match team talk: "Yes I did want that [an early goal], but I also wanted another eight after and that never happened. But the character and commitment from us.. Chelsea want to press you so we committed them to playing beyond.

"This is why I adapted the team. We made sure that Chelsea were on the back foot and couldn't press us straight away. It is the character of the blocks, Mary's icnredible save, you need those aspects to win games like this.

Ellen White
Former England striker on BBC Two

Mary Earps has shown what a keeper she is. The best keeper in the world at the moment.

Ellen White
Former England striker on BBC One

That is the performance that these United fans have been waiting for this season.

First half display, front foot, two goals. Then the defensive display in the second half, ruthless, bodies on the line, unbelievable. They thoroughly deserve to be in the final.

Manchester United

Manchester United match-winner Rachel Williams speaking to BBC One: "I can't even put it in to words. All week we've been grafting as a team. We were here last year, semi-finals against Brighton. Tooney [Ella Toone] asked me in the changing rooms where I wanted it and I told her to beat the first sent half and put it in the middle and I'll find it,. When she puts in balls like that, you've got to finish them. It's mad out there. To finally beat Chelsea, not only in the FA Cup but we have put things in place over the last few weeks to beat them. All credit to the staff.

On playing Tottenham in the final: "We'll do all of our homework, train hard. We'll prep right. We'll give everything like we have done today. Maybe this year, we might just bring home a bit of silverware.

On the post-match celebrations: Zel [Katie Zelem] said drinks on gaffer [Marc Skinner]. I said two days off! I'm going to sit in an ice bath for as long as I can. This is what it's about. We keep growing the league every year, it's getting bigger and better. I don't think we're going to be allowed to celebrate but this moment right now, we'll take it in and look forward to the final."

Manchester United being in the final means that Tottenham's Grace Clinton will miss out on the final as she's on loan from United.

Bittersweet for the 21-year-old who has had such an impressive season.

"I just feel sorry for her," Tottenham boss Robert Vilahamn said. "She’s not getting a chance to play at Wembley in a big final. We have a big squad and a lot of good players. We know why she cannot play against them but we have a lot of players who can do that job. It’s mostly [sorry] for her."

Manchester United

Manchester United goalkeeper Mary Earps speaking to BBC Sport: "So good. This season has been so hard. It's been mentally brutal but I’m so glad, back for the final. One more game to go. Come on."

On the approach to the game: "We’ve been lacking aggression in our games this season and the girls knew let’s really give this a good go. It’s heavy when things don’t go our way all year in the league. It’s been really difficult. Today the girls were unbelievable. It was ugly, it was horrible but we don’t care because we won."

On her amazing save from Lauren James: "LJ does that quite a bit, she leaps and hangs quite late so I was just trying to stay in it. We were all on it today, we wanted to win so bad, give the fans something. So proud we can do it."

On what winning the final would mean: "On a pretty not great season it would be everything, to win a trophy with this club I’ve been at for five seasons would be everything. We’ve got to stay focused on that because it's not going to be an easy game."

On if it was United's best performance this season: "It was the most gritty, it was the one with the most heart. Everyone that came into the game knew what we were trying to achieve."

On there being a new name on the trophy this year: "Hopefully it’s ours but we’ve got to earn it. It’s not going to be easy, no way."

Contrasting emotions at Leigh Sports Village.

Image source, Getty Images

Image source, PA Media

Michael Emons
BBC Sport at Leigh Sports Village

Incredible noise as United, somehow after being outplayed for all the second half, hold on to get themselves to Wembley.

Fantastic scenes of celebration from the home players, coaching staff and fans as United book a Wembley date on 12 May with Tottenham.

It has been a tough season for United, but they could end the season with a trophy. Chelsea will be wondering just how they lost this one. They could still end the campaign with a WSL and Champions League double but, after losing the League Cup final last time out, their time as FA Cup holders is now over too.

With United playing Tottenham in the final, there will be a new name on the Women's FA Cup trophy this season.

Siobhan Chamberlain
Ex-England and Man Utd goalkeeper on BBC One

What a game, what a performance! Leigh Sports Village has just absolutely erupted.

To put on that performance to get themselves to Wembley against a top, top Chelsea team for another FA Cup final is phenomenal.

Well, what did you make of that one?

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Manchester United will face Tottenham Hotspur in the Women's FA Cup final at Wembley on Sunday, 12 May.

What a game.

Manchester United are going to Wembley!

History for United. They beat Chelsea for the first time and get revenge for their defeat in last season's final.

Chelsea has been on the hunt for a quadruple. Now they've missed out on the FA Cup final and lost the League Cup final.

Image source, Getty Images

Image source, PA Media

Ashley Lawrence meets Catarina Macario's delivery.... but it goes behind.

Surely that's it?

Hannah Hampton is going up.