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Mainoo and Garnacho scored in the 2-1 win for United at Wembley
Casemiro missed a spot kick for United in the shootout but they hit back and Rasmus Hojlund's penalty sent them into the final against Manchester City.
Silva sidefooted the ball home in the 84th minute after Chelsea goalkeeper Djordje Petrovic parried a shot from former Blues midfielder Kevin De Bruyne.
Ilkay Gundogan scored a brace as City defeated United 2-1 in the final.
Lineker, who has hosted refugees in his home, had been suspended on March 10 for a tweet that called government policy on migration 'immeasurably cruel' and compared language used to support it to 'that used by Germany in the 30s'.
Motson went on to cover 10 World Cups, 10 European Championships and 29 FA Cup finals for the BBC before retiring from the organisation in 2018.
Audio of a woman moaning was played at high volume just as host Gary Lineker was seeking the opinion of fellow pundit Alan Shearer ahead of Liverpool's 1-0 win over Wolverhampton Wanderers.
Emma Hayes' side completed a domestic double having clinched the league title recently.
Liverpool won 6-5 in shootout after it ended 0-0 at the end of extra time.
Second-half goals from Ruben Loftus-Cheek and Mason Mount fired Thomas Tuchel's side to victory in the semifinal and secured a place in the May 14 showpiece match versus Liverpool, who beat Manchester City 3-2 on Saturday.