Kelechi Iheanacho scored the lone goal as Leicester City booked a place in the FA Cup final courtesy of a 1-0 win over Southampton on Sunday evening.
The second-half goal was enough to send them to the final, where they will face Chelsea, who beat Man City in the other semi-final match played on Saturday.
In a cagey affair at Wembley on Sunday evening, Brendan Rodgers' side was the better of the two, coming close on a number of times.
The Foxes were the first to have sight of the goal in the 21st minute as Ricardo found Ayoze Perez down the left but Vestergaard managed to come across to snuff out the danger.
Vardy and Iheanacho then combined before the former shot towards goal but a deflection off Vestergaard allowed Forster to prevent a corner.
Jamie Vardy and Youri Tielmans also had half-chances in the opening period, but there was no breakthrough as the teams went into the break still tied at 0-0.
Foxes began the second half the same way they ended the first, and it took them 10 minutes to finally find the breakthrough.
Vardy started the move as he rolled Bednarek from Ricardo's pass down the left, and pulled back for Iheanacho, who scored at the second attempt after his initial effort was blocked by Vestergaard.
Both sides created few goal-scoring chances in the last 20 minutes, with Leicester happy to hold off the Saints while protecting their lead.
In the end, Iheanacho's goal, his 10th in the last seven games, proved enough to send them to their first FA Cup final in 52 years.