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

If there were any questions as to why Rachel Williams was in the starting lineup, there is your answer!

Fantastic work from Ella Toone down the left hand side, and Williams just pulls off the back of the defender in the box to make room for herself to head the ball in.

That is why she was selected today.

That's a crucial piece of defending.

Ella Toone is nearly one-on-one with Chelsea goalkeeper Hannah Hampton as United counter-attack, but Chelsea's Jess Carter sprints back and intercepts the through-ball.

Chelsea are still searching for a way to get back on level terms.

Lauren James eventually takes aim from range after nobody manages to find a gap inside the United third, but her effort is blocked.

If you're interested in Tottenham's victory over Leicester then stay tuned as we'll be bringing you all the reaction to that game too.

Spurs boss Robert Vilahamn summed up his thoughts simply: "It was not the perfect game, but who cares."

It took Manchester United under a minute to score the game's first goal through Lucia Garcia.

Here's how they did it:

Oooh.

Chelsea are caught out as Manchester United opt for a training-ground routine from a free kick.

It's knocked down the line to Lucia Garcia instead of sent into the box but the United striker can't direct her cross down after getting behind the visitors' back line.

Chelsea have their first shot on target.

The ball is knocked out to Johanna Rytting Kaneryd after a few Chelsea players twist on the edge of the area to try and find an opening.

She can't get enough power behind her shot from a tight angle and it's an easy save for Earps.

Image source, Getty Images

Gilly Flaherty
Former Arsenal and England defender on BBC Two

We had it all in that cup tie.

That moment when you realise you are going to Wembley to play in the FA cup final with a club for the first time.

It's a huge feeling.

Heart-breaking for Leicester

This is the beauty of the FA Cup, the story of the underdog which is what it is today. One of these clubs was able to get there for the first time in their history.

I'm so chuffed for Martha Thomas as well.

Michael Emons
BBC Sport at Leigh Sports Village

So it's Tottenham for the winners of this one at Wembley on Sunday, 12 May.

Both United and Chelsea still have to play Spurs again in the WSL, with them being the next visitors to Leigh Sports Village a week today, before being Chelsea's penultimate league opponents on 15 May - three days after the cup final.

United thrashed Tottenham 4-0 away in December and Chelsea defeated them 2-1 at home in October. But there's a long, long way to go before these sides can think of Wembley.

Lauren James fired over when free at the edge of the box and United boss Marc Skinner won't want to see the England star given so much space in future.

In United's last game Lucia Garcia operated on the left flank, but has switched to the right today and it has worked with her opening the scoring.

Chelsea are yet to make Mary Earps have to do any real work.

United are knocking the ball around or quickly closing Chelsea down if they lose possession.

United are digging deep to keep Chelsea out at the moment.

Johanna Rytting Kaneryd tries to wriggle free on the wing but Hannah Blundell tracks her run and snatches the ball.

Chelsea need to do better than that.

Niamh Charles threads through Guro Reiten but the Chelsea winger can't run quickly enough and passes to Lauren James instead of taking the shot.

James scuffs her shot and doesn't hit the target.

Image source, Getty Images

Michael Emons
BBC Sport at Leigh Sports Village

A disastrous start to the game for Chelsea right-back Eve Perisset as her error enabled Leah Galton to race free down the left, hang up a cross and find Lucia Garcia to score with a header at the back post.

It's a great atmosphere and a decent crowd in attendance. As the teams came out, some of the home fans held up a banner saying 'We can beat these, BELIEVE'.

The United fans certainly believe now and are in great voice with their side ahead inside the opening 60 seconds.

Lauren James escapes without a booking but just receives a talking-to after a coming together with Katie Zelem.

They'd both been tugging each other's shirts.

It's all over!

History for Tottenham Hotspur who come from behind yet again in the FA Cup to secure a first-ever major final appearance.

What a moment for Robert Vilahamn and his side. Martha Thomas the hero at Tottenham Hotspur Stadium yet again.

Heartbreak for Leicester who led the game for so long, but in the end they could not hold off the Tottenham fight back.

Image source, Getty Images

A melee in the box and Tottenham finally smash the ball clear. Tehy may have just done enough

Gilly Flaherty
Former Arsenal and England defender on BBC Two

The keeper, Lize Kop is coming up as well.

Here we go!

Free kick to Leicester deep in Spurs' half.

Is this their last chance?