Right then, that's it from me. Well done to Liverpool and well played to Stoke.
We'll be back tomorrow for the second semi-final.
Until then, here's Phil McNulty's match report from Anfield.
Stoke manager Mark Hughes, speaking to Sky Sports: "I thought we were by far the better team. We were behind in the tie and I'm proud of what the players produced. Nobody gave us a chance - why they would do that I don't know. We've proved for a couple of years that we're a good team. I think Liverpool were delighted to go to penalties and then it's a lottery.
"In terms of a performance, I thought we merited a win. We got a win on paper - goodness knows how long it's been since we won here - but the objective was to get to a Wembley final which we didn't."
In other news... does anyone want to make a January transfer window bid?
Joel Ike Ikech: Liverpool have won 82.4% of their penalty shootout in history... and that's better than Germany.
Jurgen Klopp's sense of humour is great. He is thanked by the Sky Sports presenter following an interview.
"You're welcome. But I had to. I got told I had to."
Ryan Lloyd: Joe Allen, never shave.
Jurgen Klopp is brilliant. He's incredibly excited in his post-match television interview.
He's been to the Champions League final at Wembley, but you can tell this is special for him.
He's as excitable as a puppy before a walk.
Excellent James Milner spoof tweet...
Jurgen Klopp reveals he didn't watch the shootout because he was so nervous.
He should not have worried... Liverpool have won 14 of their last 17 penalty shootouts.
Liverpool manager Jurgen Klopp, speaking to Sky Sports: "It was great, the atmosphere was special. It was a good game for my side against a difficult side to play.
"They changed their style today. It was Butland to Crouch so it was difficult to defend. We had a few problems, but they didn't have too many opportunities.
"Their goal was double offside but, in the end, we had luck in the penalty shootout. Over the whole 120 minutes, the players, crowd and Liverpool deserved it.
"Wembley is a cool place to play football... but we go there to win. It's not much fun to lose."
Great scenes in the Liverpool dressing room...
Greg: It kinda helps when Butland aimlessly threw himself the wrong way for 6 of the penalties. Why do keepers do that?
Andrew Craig, in response: Because if they wait, and the pens are good, the keeper can't save them. Shilton discovered that in 1990.
For those wondering, the final is on 28 February at 16:30 GMT. Liverpool will find out tomorrow whether they will be meeting local rivals Everton or Manchester City.
Either way, it's going to be a north west battle.
Anfield is hosting the best party in the UK at this current moment in time. Kenny Dalglish is pictured celebrating in the stands and Jurgen Klopp turns the camera in the direction of Jon Flanagan.
Lots of joyous scenes.
Ash: Anyone up for a Merseyside derby in the final?
Joe Allen, speaking to Sky Sports: "I was nervous, there was confusion about who would take the seventh penalty but I picked the right corner and it's electric here now."
Simon Mignolet: "I think we deserved it, we were the better side over the two legs."
Start booking the trains and hotels, ladies and gentlemen.
One half of Merseyside is on its way to Wembley.
The Welsh Pirlo steps up and buries his penalty into the top, left-hand corner.
Anfield erupts like a bubbling volcano.
Simon Mignolet goes to his left, it's at the perfect height and turned round the post.
Easy. Easy. Easy.
Another one in the corner. High standard this.
Tekkers. Another one in the corner and out of reach.
Into the corner. Boring? Nah... proper penalty that.
Guided into the bottom corner, almost laser-like. Composure.
Low, in the corner. Next.
Hammered into the corner. Simon Mignolet got close, and exhales sharply. Pressure.
A cheeky check in his run, the keeper commits, and the big Belgian rolls it into the opposite corner.
Easy as you like from Glenn Whelan. Like a man nipping out for his morning paper. What pressure?
Emre Can goes for the corner, the keeper guesses right, post!
Back on level terms.
Simon Mignolet guesses right and a low effort is saved.
Peter. Peter. Peter.
High and down the middle. Brave... but it works. 1-1.
Perfect. Jon Walters puts it in the corner and out of reach.
The two keepers meet in the middle of the pitch with the referee. It's like a boxing match as they are given instructions. Good luck. Seconds out.
Jack Butland wipes the sweat from his forehead with a red towel, while swigging fluids. Simon Mignolet prefers to hit himself in the face.
Each to their own.
BBC Radio 5 live at Anfield
"Stoke were good in the first half and Liverpool got a little better. It's up to the goalkeepers now."
Everyone looks remarkably calm. A few smiles etc as Jurgen Klopp (maybe!) turns on his 4G and emails his list of penalty takers to the ref.
Mark Hughes (maybe!) pulls out an old packet of Woodbine. Ah yes: 1. Bojan, 2. Arnautovic - what do you mean he's gone off?
That'll do, lads.
See you at the penalty spot.
A Liverpool corner. Sixty seconds left... hammered in by James Milner but Peter Crouch heads clear.
Pete Nicholson: Oh Stevie G, how much better would I feel about our chances with him on the pitch!