Owen Robertson became the latest hat-trick hero but Baldock needed a spectacular fingertip save from stand-in 'keeper Adam Harpur in the early stages before finding their feet.
London Lions will provide the opposition in the final on March 20 at the Vauxhall Lane Ground in Hemel Hempstead. Baldock Town will be looking for revenge after already being knocked out of a competition by them this season.

Town got off the mark in the 25th minute when Alex Coppin's wickedly curling free kick was expertly nodded into the corner by Robertson.

Alfie Barker shot across the goal and Lewis Barker went close with a header before Harpur made his second good save of the half when Lemsford enjoyed a rare breakaway.

Baldock imposed themselves after the break but the second goal had a touch of fortune about it. Robertson's inswinging corner eluded everyone and nestled into the far bottom corner of the net.

Substitute Harry Holland hit the bar before Josh Coley latched on to the goalie's clearance with just over 10 minutes left and booked Town's place in the final with a cool run and finish.

The visitors' captain was sent off for a bad foul and compounded his misdemeanour by lashing a ball out of the ground, sparking some heated discussion on the sidelines as he made his way to the dressing room and a bizarre confrontation between the Baldock bench and the player's mother. We sincerely hope she has got over the trauma of her son being shouted at!

There was still time for Robertson to complete his hat-trick via an appalling clearance from the goalie before the celebrations began.