Chelsea knocked out last year’s winners Manchester City
Arsenal’s pursuit of a 15th Women’s FA Cup is still on course after they booked a place in the final by beating Everton 2-1.
The semi-final was heading for extra-time until Louise Quinn stepped up with an injury-time winner to send the Gunners to Wembley.
Arsenal had taken the lead through Danielle Carter in the 25th minute before Chloe Kelly drew Everton level midway through the second half from the spot.
The visitors had the final say, though, thanks to Quinn’s intervention as they reached a 16th Women’s FA Cup final.
England striker Kirby grabbed her first in just the fifth minute and made the game safe with a cool finish late on to set up an all-London final.