A drama-filled night in Cardiff went Reading's way as a spot-kicks were needed to settle the tie.
Reading and Cardiff had drawn 1-1 at Madejski Stadium to set up the replay - and it was 2-2 at the end of the 90 as Omar Richards and Andy Rinomhota each grabbed goals to peg back from two goals behind.
Josh Murphy had the Bluebirds ahead again in extra-time but Yakou Méïté volleyed in late to send the ties to penalties. From there, Reading were flawless from the spot to book a game against Sheffield United.
Take a look at over 10 minutes of highlights above on iFollow.