Andre Gray’s late goal a minute after coming on as a substitute saw Watford reach the FA Cup semi-finals with a 2-1 win over Crystal Palace.

Gray’s goal 11 minutes from time booked Watford’s place at Wembley for the second time in four years after a passionate quarter-final at Vicarage Road, which the hosts were good value for edging.

They took advantage of increasing first-half momentum to move ahead on the half-hour when Etienne Capoue was teed up by Craig Cathcart after Vincent Guiata missed a punch from a corner.

But Michy Batshuayi then levelled after half-time following a horrible mistake from Adrian Mariappa.

The match looked to be heading to extra-time with clear chances at a premium late on until Gray, who had been on the pitch barely 60 seconds, slotted in Roberto Pereyra’s perfect lob to seal their progression.

Vicarage Road is rarely a quiet ground but the thunderous noise that greeted every early tackle showed just how much a place in the semi-finals meant to both sets of fans, and that partisan atmosphere continued throughout.

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