Thanks Joe - what a game that was to get semi-final day started!

So we know one of the teams who will be at Twickenham next Saturday.

Now to find out who will join them in the battle to lift this year's Premiership trophy.

Will it be hosts Leicester, who start as favourites having finished top of the league during the regular season, or Saints, who would love to put one over on their East Midlands rivals on their own patch?

Let's take a look at the teams...

Image source, Rex Features

That's me done. Wow, I need a lie down.

After everything they've been through over the last 18 months, Saracens will feel they are back where they belong.

Who will they face in the Premiership final? Steve Mather will take you through Leicester Tigers' semi-final with rivals Northampton Saints at 16:30 BST.

Build-up will start right here on this page from 16:15 BST.

Go well Steve!

Saracens director of rugby Mark McCall told BBC Radio 5 live:

"It was an amazing performance from the team. We were 12-3 down after 15 minutes and then we scored 26 unanswered points and then played the last 27 miunutes with either one or two men down.

"The resilience, the resolve, the effort of the team was remarkable.

"We've had a tough two-and-a-half years and I'm unbelievably proud of the group. To put in a physical performance like that against a quality team like Harlequins is pretty special.

"It [the salary cap scandal] was a problem of our own making and we've accepted that mistakes were made, but 99% of the people who work for the organisation weren't responsible for what happened.

"They all had an excuse to leave if they wanted to, but they didn't. They stayed and that staggering levels of loyalty saved the club.

"I'm incredibly proud to be part of this group."

Matt Dawson
Former England scrum-half on BBC Radio 5 Live

In that first 20-30 minutes Harlequins really took it to Saracens but that squeeze mentality of the Saracens forwards in the second half took the game away from Harlequins.

There were some nice touches from Marcus Smith in the first half but less opportunities in the second half because Harlequins lost their shape, they couldn't create those overlaps.

Owen Farrell had a more pragmatic approach, kicking to the corners, up and unders and pop balls to his team-mates, organising them but one fly-half didn't have it over the other by a stretch.

Matt Dawson
Former England scrum-half on BBC Radio 5 Live

You can bet your bottom dollar that Saracens will be in that changing room right now saying this means nothing, it has no consequence unless they go to Twickenham and win this.

As a message to the Premiership and to the game, these players and the club will want to win the trophy to say they have taken their punishment and they're back, and they want to be better.

They are a steely, pragmiatic, ruthless bunch of individuals who know how to win big games.

Saracens hat-trick hero Ben Earl talking to BT Sport:

"It means everything. We spoke about the fight we showed in the last 20 minutes. We've got next week to go now.

"It's just nice to get one over them. We knew they were never going to go away. Trust me I've learnt that the hard way.

"We've got lots of work to do for next week, whoever we play."

[On Saracens' three yellow cards]: "We were begging people to start tackling lower. We had to fight for each other, that's what this team is all about.

"We are together. We will see what happens next week."

Hat-trick hero Ben Earl has just told BT Sport this win "means everything."

Full reaction coming up.

Natasha Hunt
World Cup-winning England scrum-half on BBC Radio 5 Live

Saracens just find a way. They have taken their opportunities so well.

Take them on at your peril.

Owen Farrell completes the conversion with the clock in red.

Saracens have knocked out the holders and are 80 minutes away from taking the trophy themselves.

Ben Earl, man, what a player.

Natasha Hunt
World Cup-winning England scrum-half on BBC Radio 5 Live

Saracens can relax now. They know they're going to Twickenham. These are special times that they will remember.

And another penalty is won and then sent to the corner. The clock is being run down. 90 seconds remain.

Play is bought back for the penalty.

Owen Farrell kicks to the corner.

One final push. Saracens are nearly there.

14-man Sarries have an advantage and the ball inside the Quins 22.

Less than five to go. Quins' Joe Marler is replaced by Simon Kerrod.

Natasha Hunt
World Cup-winning England scrum-half on BBC Radio 5 Live

That's the game for me. It was a huge defensive effort at the maul, backed up by a scrum penalty.

They'll kick this to the corner and maul the life out of it.

And there's afters. Referee Luke Pearce talks to both captains and says next time, there will be red cards.