Andre Gray's late strike sent Watford through to the FA Cup semi-finals with a 2-1 win over Crystal Palace.
The game looked to be heading to extra time after Michy Batshuayi cancelled out Etienne Capoue's first-half opener.
But Gray struck in the 79th minute, converting Roberto Pereyra's cross from close range to earn a Wembley date for his side.
Watford saw off non-league Woking before victories against Newcastle and QPR, whilst Crystal Palace nudged past Grimsby, shocked Tottenham and breezed past Doncaster.
If the Hornets want a short trip to Wembley, they’ll have to be weary of the Palace’s threat on the break.
The Hornets are in good form though, and given they are sat comfortably in the top half, there’s no reason why they can’t throw everything at winning a trophy.
We'll have all the latest updates for you from Vicarage Road so without further ado, off we go.
Watford vs Crystal Palace
Watford vs Crystal Palace
Both managers have been speaking up about the FA Cup, here's what they had to say:
Watford head coach Javi Gracia: "It's something different, something special. We are so close to playing in a semi-final. We feel it and know it's important.
"It is a very good chance for us but also Palace as well. Playing against Palace is always very demanding. All the games have been very, very close. We have to be ready knowing it will be a very close game again."
Crystal Palace manager Roy Hodgson: "Of course it would be a wonderful thing to do, to win the FA Cup, but there's a lot to do before we can even hope to achieve that.
"The final is the stuff of which dreams are made of. We have to confront reality and the present when it comes to the match with Watford, knowing full-well, if we want to see a dream come true, we've got to get through that Watford game."
Watford vs Crystal Palace
Team news
Watford make eight changes to the side that lost to Manchester City last weekend. Kiko Femenia, Abdoulaye Doucoure and Etienne Capoue are only players to retain their starting places.
Roberto Pereyra, Gerard Deulofeu, Will Hughes and skipper Troy Deeney all return to bolster the front line.
Roy Hodgson makes three changes to the Crystal Palace side which lost to Brighton last Saturday. Martin Kelly, Cheikhou Kouyate and Max Meyer all come into the starting line-up.
Scott Dann, Patrick van Aanholt and Wilfried Zaha miss out completely.
"Wilf Zaha came off with a tight hamstring against Brighton and we had been nursing it all week. Unfortunately he didn't come through a test on Thursday.
"When you get this far you see the Wembley towers in front of you and you dream of getting there.
"I've never reached a semi-final in England, so here's an opportunity for the players to elevate me to a new milestone in my career, which would be very nice if they do!"
Please allow a moment for the live blog to load
