That's the end of this live text now. Thanks for joining us for maybe the most remarkable FA Cup semi-final ever.

Manchester United led 3-0 and looked in total control but Coventry scored thrice in the final 20 minutes to force extra time.

In the final minute of extra time they thought they were becoming the first Championship side to reach the FA Cup final since 2008 but had a goal disallowed by the VAR.

The Sky Blues led the penalty shootout at one stage but ended up losing it.

Read the match report here.

The football isn't over tonight. El Clasico kicks off at 20:00 BST - follow Real Madrid v Barcelona here.

Jamie Carragher, on Sky Sports, says Mark Robins has probably cost Erik ten Hag his job after saving Alex Ferguson's all those years ago.

Neil Johnston
BBC Sport at Wembley

Coventry boss Mark Robins in his news conference: "Had he [Haji Wright] cut his toe nail, it wouldn't have gone to penalties."

Manchester United

Manchester United manager Erik ten Hag, speaking to BBC Sport: "It's mixed feelings. The way we did it isn't OK.

"We should have managed it better but it's a huge performance. If you analyse the game we controlled 75 minutes but then allowed them to return into the game.

"I have to give a compliment to the opponent. They believed but we allowed them. We should managed it better.

"I don't think heads dropped but we had many setbacks and maybe it's human but it's not acceptable.

"We have to show resilience. By the end we did show resilience and determination to win the shootout. When you are so in control you should win easy."

On his mindset: "I am always calm, I focus and know my players can shoot penalties. I'm always confident Andre [Onana] will catch minimum one.

"I was quite convinced but when the first is a mis-hit then you never know."

On facing Man City in the final: "We have to face the best team in the world but we showed last season that if we execute our plan over 90 minutes we have a chance to win.

"It's not going to be easy but we have an opportunity and we have to go for it."

Coventry

Coventry striker Ellis Simms speaking to BBC Sport: "It hurts a lot, especially coming back from 3-0 down and having the potential to win in extra time.

"To lose on penalties is gutting because it can go either way.

"I felt in the second half of extra time we had great chances. I had one tipped on to the bar and we had the VAR disallowed goal. We had the energy that the fans gave us. We were unlucky but it just wasn't our day to get it.

"I'm proud of the lads."

On mounting a comeback: "We went into the second half knowing we needed goals. We changed system and that helped.

"We were on the front foot, pressing and being more aggressive. We created more chances and when the first one went in we heard the fans roaring. That was a massive lift.

"Naturally you start to get momentum and we were able to equalise."

On scoring on his first appearance at Wembley: "I was delighted with that.

"We were 3-1 down at that point so I wondered if it would be a consolation and then we got two and three.

"It's a good moment to score at this iconic stadium and hopefully we can get here again."

Coventry

Coventry boss Mark Robins to BBC Sport: "Bitterly disappointed, I'm proud as well. Someone said to me I don't think any team have been as close to a final without getting there. We deserved to go through, we were 20 seconds away and a toenail offside, it's ridiculous.

"We wanted to stay in the game in the first half. The second goal on the stroke of half-time was disappointing. We were ready to make changes before the third.

"You try not to let the game get away from you. We thought it might be a consolation and then the second loops in and it gives us a lifeline. Your tails are up then. Haji sticks a penalty away and all to play for.

"They hit the bar, we hit the bar. Another goal with 20 seconds to go. It took an age. The fourth official said there was nothing wrong with it [initially]. A toenail offside.

"Disappointed but we have to be really proud. Once the dust settles a lot of people will talk about that game for a long time.

"We needed to try to get a bit of control and quality. We didn't have that. We kept giving the ball away so we couldn't build any momentum.

"It looked a little bit more like us and that's why I'm proud of them. They were incredible for the last hour."

On the disallowed goal: "The mentality changes because you've almost won it and then you haven't. It puts you on the backfoot going into the penalty shootout. Thirty seconds later you're in a shootout.

"I don't blame anyone for missing. It is what it is. We'll have to get better at them [penalties]."

Andrew: Happy as a United fan that we’re going to the final, but this game is a perfect example that this summer should be the end a lot of players’ times at United. Mentally weak doesn’t even begin to describe it. How many leads and late goals can one team cough up?

Manchester United

Manchester United manager Erik ten Hag, speaking to ITV1: "It was an incredible game, a strange game too. We had total control for so long and then gave it away in the last part of the game. We did show resilience to win the penalty shootout.

"We had control for 75 minutes and have to give Coventry a compliment for what they did in the last 15 minutes.

"We have to improve. We talk a lot about this. First you have to put yourself in a winning position but then you have to take it over the line. In these moments we are making mistakes and not keeping our responsibilities."

On whether there is a problem with mentality: "We can't say this group doesn't have the right mentality because they showed character today, but in the final part there was a lack of discipline.

"We have to keep the ball, keep making passes, go for goal and then also be strong in defence. It's about communication and we have to improve on this."

On what he said before penalties: "It was about mentality in that moment. You have a plan and have full confidence so I told them to stick to the plan.

"I had confidence we would win the shootout. Normally Casemiro scores, we train them very well."

On the feeling in the group after the game: "It's mixed feelings. We can be happy with the achievement, getting to the final, that's huge.

"Even the big Manchester United only achieved it three times and we achieved it twice in two years. We need to win that final though. When we 100% in it then we can do it.

On whether they need to win the FA Cup for it to be a successful season: "I want to win it. I'm sure we have a good chance to win this final, although we play the best team in the world.

"We do have a chance though. We showed that this season.

"This season has had many ups but also many downs. Winning the FA Cup doesn't make it successful, we want to win more.

"We have been in three finals in two years, which is good, but we had a lot of setbacks this season.

"We've had a lot of injuries and hopefully those players can be back for the final. If we go with a squad who believe then we have a chance to win a trophy."

Roy Keane
Former Manchester United midfielder on ITV1

Manchester United play in moments, they always give you chances.

We've seen it already in the FA Cup this season with the games against Wigan and Newport County.

[Harry] Maguire said he saw character but I don't see character. I'm almost getting to the point where I don't like them.

I'm seeing bad habits. The goalkeeper is wasting time at 2-0 up, get on with the game and go and flex your muscles.

They'll be celebrating getting to a cup final tonight but all this does is put more pressure on the manager.

Manchester United goalkeeper Andre Onana was booked in the game, and in the penalty shootout - but as we learned on Thursday night via Aston Villa's Emiliano Martinez, cards get wiped out before the shootout.

Onana won't be suspended for the FA Cup final.

He says he checked with the referee the rules beforehand - so that he knew he could get away with one in the shootout.

Manchester United

Manchester United goalkeeper Andre Onana to BBC Sport: "It's a mixed feeling. We went through, that's why we came here.

"It was a tough game at the end. We were in control. After so many individual mistakes we conceded three goals. The most important thing is to win. We have to look forward to the coming games.

"Somehow we lost control of the game.

"We are Man Utd. We must win. We feel good, we feel happy to be in a final. We'll come back here to win.

"The most important thing is the victory. We're in the final, that's what matters."

Coventry

Coventry City boss Mark Robins to ITV: "We conceded too many poor goals. We knew we had to make changes which we did at half-time. We spoke about not having regrets. We started to look more of a threat.

"To come back from 3-0 down is incredible. Some good quality football. We were really disappointed at the end.

"We hit the bar and had a goal disallowed. It was a really difficult game. We lose Tavares to injury and had to make another change.

"If you can attack them you can really hurt them. I can't be prouder of them. They did fantastically well. I think we've made Coventry proud.

"You get to penalties and it's a lottery. You don't hold anything against anyone if they show the courage to take one in a cauldron."

On the offside goal: "It's a toe nail. Those lines are the bane of our life. You don't get a chance often to go to an FA Cup final and we were really really close.

"We have to pick ourselves up because there's a game on Wednesday.

"There's always a bit of gamesmanship [in penalties]. We needed to score the five goals. We scored the five in the summer and missed the sixth and Luton went up. It feels like a kick in the teeth.

"I'm really proud of them.

"We've just said to them they've put themselves right up there in the history of the football club. People will talk about this game for a long time."

Clinton Morrison
Former Coventry City striker on BBC Radio 5 Live

Image source, Getty Images

Man Utd need to improve and try to get some of the injured players back.

Man City were not at their best against Chelsea, but you never know in a one of game.

Man Utd are through and it doesn't matter how they played today and that was Erik ten Hag's job at the start of today.

Ian Wright
Former England striker on ITV1

You could see it descend into chaos and Coventry really came into.

Simms was causing problems, Tavares was looking good.

They almost did it.

I'm not sure there has ever been an FA Cup semi-final win celebrated less than that one.