Watch: Brighton stage great escape to reach FA Cup semi-finals on penalties
It seemed Championship strugglers Millwall were on the brink of delighting their home crowd at the Den at 2-0 up with just two minutes of normal time left after second-half goals by Alex Pearce and Aiden O'Brien.
But Brighton pulled one back through Jurgen Locadia and then, in the fifth minute of added on time and the last act of regulation play, Solly March's seemingly harmless free-kick into the box left Millwall goalkeeper David Martin flapping at the ball before it settled in the top corner to give the Seagulls an unlikely equaliser.
Premier League Brighton, beaten FA Cup finalists in 1983, had the best chance of a lacklustre first half, with Beram Kayal volleying straight at Martin.
South London side Millwall, defeated in the 2004 FA Cup final by Manchester United -- Brighton's conquerors in 1983 -- had the better of much of the second half, however, and they were rewarded with two goals in nine minutes that left them on course to make the journey across the capital to Wembley.
The deadlock was broken in the 70th...