In a rematch of last year's final that they lost 1-0, Marc Skinner's United went in front in the first minute through a Lucia Garcia header before doubling the advantage midway through the first half when Rachel Williams headed home.
The result is a first victory for United over Chelsea since the team's launch in 2018 - and they now have a chance to secure a maiden piece of major silverware when they return to Wembley on May 12 to face Spurs.
United made a dream start as they grabbed the lead in the opening few seconds, Chelsea full-back Eve Perisset being punished for losing possession with Leah Galton claiming the ball on the left and delivering a cross to far post, where Garcia headed in.
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