Sels saved from Jack Hinshelwood and Diego Gomez during the shootout, before Ryan Yates fired home the decisive spot-kick to take Forest to Wembley.

Both sides went close in the first half. Bart Verbruggen thwarted Taiwo Awoniyi from a tight angle, while Carlos Baleba fired narrowly wide at the other end.

Forest was awarded a penalty in the 63rd minute when Elliot Anderson went down under pressure from Kaoru Mitoma. However, the initial decision was overturned after a video assistant referee's (VAR) review.

Brighton turned up the pressure in extra-time. Substitute Diego Gomez saw a header superbly saved by Matz Sels, while Joao Pedro was denied by the offside flag as a penalty shootout beckoned.

This was Forest's third in this season's FA Cup and, after four successful kicks, Sels guessed correctly to keep out Hinshelwood.

Although Neco Williams subsequently fired the next penalty over, the visitors regained the advantage when Gomez's powerful effort was blocked again by Sels.

Nikola Milenkovic and Lewis Dunk both converted to leave match point in the hands of Yates, who made no mistake to send Forest through to the last four.