Manchester United beat Brighton on penalties at Wembley on Sunday to set up an FA Cup final against treble-chasing Manchester City after the match finished goalless.

Victor Lindelof scored the decisive spot-kick as Erik ten Hag's team won 7-6, following a miss by Solly March, staying on course for a domestic cup double.

The semifinal in front of a crowd of more than 81,000 finished 0-0 after extra-time, with neither side showing the cutting edge required to break the deadlock.

The result means United will have the chance to derail City's bid to match their unique achievement of winning the treble of the Champions League, Premier League and FA Cup in the first-ever meeting between the rivals in an FA Cup final.

But the Red Devils, who won the League Cup earlier this season, to end a six-year trophy drought, will have to find better form if they are to compete with Pep Guardiola's red-hot team.

"On Thursday I saw a team I didn't recognize but today we went back to usual," said Ten Hag, referring to their Europa League horror show against Sevilla. "I could see determination and resilience. We fought for every yard and competed in every battle. We had good chances."

A high-quality shootout took place in front of the massed ranks of the Brighton fans. United substitute Sabitzer stepped up to take his spot-kick with United 5-4 down and his heart would have missed a beat as Sanchez got his hand to it, but he could not keep it out.

Brighton's Adam Webster and United's Wout Weghorst both scored before March's painful miss with the 13th kick giving defender Lindelof a chance he did not squander.

Ten Hag praised "cool" Lindelof and Shaw -- first-choice central defenders Lisandro Martinez and Raphael Varane are out injured -- and said he was impressed by the performance of De Gea.

"He made some brilliant saves," he said. "It hurt when he made mistakes on Thursday.

"Often when you make mistakes as a keeper you get punished. We let him down, we didn't fight back for him. We bounced back today though."