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The first half belonged to League One’s side as the goals from Jose Baxter and Stefan Scougall had helped them into a 2-1 half-time lead, with Yannick Sagbo briefly levelling for the Premier League side.
Hull turned the game early after the restart when substitute Matt Fryatt leveling the scores once more and Tom Huddlestone finished off a fine move with a classy solo effort before Stephen Quinn headed home.
Sheffield United ‘s Jamie Murphy scored on 89 minutes to set up a tense finale to the clash but David Meyler sealed the win with a composed finish in injury time.
The result means the Tigers will return to Wembley on 17 May to play Arsenal in the final.
Hull City: Harper ; Rosenior, Chester, C Davies , Figueroa (Aluko 46); Meyler , Livermore ; Elmohamady , Huddlestone , Boyd (Fryatt 46); Sagbo (Quinn 64 ).
Subs not used: Jakupovic, Bruce, Koren, Faye.
Scorers: Sagbo 42, Fryatt 49, Huddlestone 54, Quinn 67, Meyler 90.
Sheffield United: Howard; Brayford, Maguire , Collins , Harris (Hill 90); Doyle; Scougall (Porter 83), Flynn, Coady , Murphy ; Baxter (B Davies 83).
Subs: Long, McGinn, Freeman, Kennedy.
Scorers: Baxter 19, Scougall 44, Murphy 90
Man of the match: Tom Huddlestone.
Referee: Andre Marriner
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