Friday's last-gasp 21-20 semi-final victory at Harlequins was the Falcons' third win in a row.
The Blues, though, missed out only on penalty-kicks last year after their 26-26 extra-time semi-final draw with Leicester.
The game is a re-run of the All-Ireland semi-final of last season when Armagh won a thriller 2-10 to 1-09.
Darby, who joined the Robins in March, scored the winning penalty in the play-off semi-final shoot-out at Charlton to hand Swindon the chance to be promoted to the Championship with victory over Millwall at Wembley this weekend.
Watford now face a two-legged play-off semi-final against Hull after Tommy Smith hit a spectacular late equaliser at Bloomfield Road to ensure a sixth-place finish by the narrowest of margins - superior goal difference on Wolves of just one goal.
She will meet fifth-seeded Conchita Martinez or unseeded 17-year-old Marta Marrero in an all-Spanish semi-final.
Defoe was paraded before the Spurs fans ahead of their home 4-1 Carling Cup first-leg semi-final win over Burnley, even though the Premier League had yet to approve the deal.
Pool enjoyed a period of dominance as the Bluebirds tried to come to terms with their double blow, but Stephen Crainey shot wide and DJ Campbell, who scored a hat-trick in the play-off semi-final second leg against Nottingham Forest, failed to connect with a precise low cross.
Argentine Del Potro beat Rafael Nadal 6-2 6-2 6-2 in the first semi-final.
The Gulls have reached the play-offs twice since then - losing controversially in the semi-final against Preston North End in 1995 and then 1-0 in the final at Wembley against Colchester in 1998.
The United players dedicated the 4-1 semi-final victory over Aberdeen to Thompson - who remains uncomfortable in the limelight.
BBC: SPORT | Football | My Club | Dundee Utd | Thompson dreaming of cup success
Last season West Ham also reached the play-offs, losing out to Crystal Palace in the final after beating Ipswich over a two-legged semi-final.
Andy Dibble was brought on but had no chance with Gabbiadini's spot kick, his 25th goal of the season, as Darlington took a two-goal lead over their bitter rivals in the Third Division's play-off semi-final first leg.
It later emerged the Coleraine rower had been suffering from a cold but British team officials expect him to recover in time for his repechage - a second chance to qualify for the semi-final - on Tuesday.
BBC: SPORT | Other Sport... | Rowing | GB four power to opening victory
Opened the curtains this morning - FA Cup semi-final part II day - and what do I see?
He was pushed hard by the Serbian fourth seed in the rain-delayed semi-final but improved his record against Djokovic to 9-4 as he controlled the key moments.
However, the defending British visually-impaired mixed coxed fours boat, easily booked their place in Saturday's final - winning the semi-final by 13 seconds.
BBC: SPORT | Other Sport... | Rowing | British boats crash out in Japan
Falcons have won three straight games as they prepare to face Gloucester in Sunday's final, including a last-gasp semi-final victory against Harlequins.
BBC: Belief key to Newcastle Falcons cup run - Jonny Golding
Cook, who scored in the play-off semi-final against Coventry, will be remembered for special solo goals against Manchester in the play-offs and Coventry in the league.
Andrey Golubev of Kazakhstan beat Germany's Mischa Zverev 6-7 6-4 7-6 and will play Victor Hanescu is the other semi-final after the Romanian eased past home favourite Michail Elgin 6-1 6-4.
Federer had beaten Nalbandian in eight of their last nine meetings including a 6-4 6-0 win in the semi-final in Madrid last year.
The American will now face top seed Paradorn Srichaphan after the Thai player beat wild card Nicolas Kiefer 6-0 6-2 in the other semi-final.
Stepanek and Berdych's triumph came on the back of singles victories for the pair on Friday when the Czech Republic opened up a 2-0 first-day lead in the semi-final, despite Ivo Karlovic firing a record 78 aces.
The Swiss world number one eventually prevailed 7-6 (7-4) 6-7 (5-7) 6-3 over the Belgian to book a semi-final against Chile's Fernando Gonzalez.
Obasi scored twice in the 4-1 semi-final win over Belgium, but missed the final because of a shin injury.
The Australian struggled for the Robins and was eventually dropped, before making a dramatic return in the play-off semi-final.
The Spaniard was clearly affected by his four-hour semi-final against compatriot Carlos Moya.
Wycombe were well placed for automatic promotion last season but fell away and lost to Cheltenham in a play-off semi-final.
BBC: SPORT | Football | My Club | Wycombe Wanderers | Easter fired by cup exploits
Charlton were condemned to a second season in English football's third tier when they lost a play-off semi-final to Swindon Town.
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