Erik ten Hag admitted Manchester United "got away with it" after they threw away a three-goal lead against Coventry before needing a penalty shootout to win their FA Cup semifinal at Wembley on Sunday in London.

United were 3-0 up midway through the second half before Coventry launched a stunning fight-back with three goals in the final 20 minutes.

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The Championship side thought they scored another at the end of extra time only to have it chalked off by VAR. United prevailed in the subsequent shootout when Rasmus Højlund scored with the decisive kick.

It sets up a second successive FA Cup final against neighbours Manchester City at the end of May.

"Mixed feelings, it is clear," Ten Hag told his postmatch news conference.

"But it's an achievement to be twice in the FA Cup final in two years. When you are so in control, dominating the game, 3-0 up, we should win it.

"The way we didn't was not good, and from the 70 minutes to the end we made mistakes. On several occasions we let each other down. Today we got away with it."

Ten Hag was asked whether it was embarrassing to win the game in the manner they did against a Championship side who had lost three of their previous four games.

"No, I can't see that," he said.

"At the end of the day it's about achievement. I see the mistakes we make, but it's not an embarrassment, it's a huge achievement.

"[The players] see that there are mixed feelings. We allowed them to return in the game and it's completely unnecessary."

Despite reaching the FA Cup final and setting up the chance to win a second trophy in as many seasons as United manager, Ten Hag's future at Old Trafford remains unclear. The Dutchman, however, dismissed the suggestion that even though United won, his position has been weakened by the performance against Coventry.

"That would be crazy," he said. "You need the tools to manage, and with all the injuries we don't have so many tools. We don't even have a back four in their best positions.

"On that part, I have to give the team a compliment, the players managed that, they were in a position that is not in their best. They gave 100 percent. It's not always easy to play best football when you're not in your best position."