Fresh from England action at Wembley, Frank Lampard and John Terry made sure they will be retuning there soon by firing Chelsea into the semi-final of the FA Cup.

Both stepped up the mark to deliver trademark goals, Lampard shooting in from outside the area in the first half and Terry heading home a corner in the second to take the Blues into our fourth FA Cup semi in five years.

The Stoke aerial test came of course, and it wasn't always easy to deal with, but we survived and with the visitors looking poor with the ball at their feet, Carlo Ancelotti's team can claim to be worthy winners in what was a messy encounter at Stamford Bridge.

The need to get back to winning ways after two straight defeats was reflected in the manager's team selection that was as strong as could be imagined given the players available.

In one of his biggest decisions, the manager went for Kalou rather than Joe Cole to play with Anelka and Drogba in the attack.

Malouda was restored to midfield with Paulo Ferreira taking over at left-back, a position he played for Portugal midweek.

Patrick van Aanholt, the 19-year-old Dutch left-back recently returned from a month's loan at Newcastle, was among subs for the first time.

He was not called upon, Ancelotti choosing to make no changes during the game for the second time this season, a reflection perhaps on a second half in which Chelsea made nearly all the chances.

The first half was more balanced in openings, and Stoke were an early threat, although Chelsea's start to the game was crisp. Ferreira delivered an early left-footed cross that tested the Stoke defence and two corners were won inside the opening two minutes.

At the other end Delap's first chance to launch a throw came on four minutes and it caused problems. Huth, Stoke's captain for the day, nodded on but Sidibe headed over from just in front of Hilario.

Anelka then drew a low save out of Sorensen after a run into the area before Alex defended well when a shot was driven low but wide across the area. It was an end-to-end first 10 minutes.

From Stoke's second throw, this time from the left-hand side, it took a Mikel clearance off the line to prevent the Potters from scoring. Whitehead had volleyed low and hard when the ball was half-cleared and our Nigerian anchorman spread himself well to kick away.

Drogba had been down early with an ankle injury but was then caught painfully by Huth's knee in a robust challenge. It was a classic dead leg that went unpunished. Drogba spent a spell on the sidelines.

Chelsea enjoyed a good patch midway through the half. Malouda, as involved as anyone, nutmegged his marker before testing Sorensen with a cross, and Ivanovic thundered in a shot that was deflected over. On 28 minutes, Whitehead was caught on the ball in the area by Anelka but the Chelsea striker dragged his shot wide of the far post.

Anelka did better with a clever reverse pass to Malouda but when the Frenchman was shoved to the ground by Faye inside the box, referee Martin Atkinson judged it to be shoulder-to-shoulder.

Drogba smashed a shot that looked a good bet to pierce the Stoke shield before it was crucially deflected, but the next Chelsea attempt, just moments later, did make it through.

It was exactly the type of strike on which Lampard's immense reputation is founded. Running on to the ball just outside the area he found a path for it through a crowded area and into the Shed End net.

The skipper was involved too, Terry laying the ball back for the strike having come up for the initial corner. We were 1-0 up 34 minutes in.

Huth continued to put it about. He was spoken to but not booked by the ref after catching Kalou late 35 yards out. Lampard's free-kick was disappointing.

Even more of a waste was Tuncay's free-kick attempt soon after when Terry was harshly judged to have fouled.

In stoppage time before the interval Sorensen was quickly down to prevent Drogba's volley creeping inside the near post after Ferreira's cross. Today's left-back was letting no-one down with his attacking or defending.

Against the script, it was Chelsea who weren't too far away from scoring from a long throw three minutes into the second half. Ivanovic's missile found its way back to him but the Serb's shot from the edge of the area curved up and over.

Drogba struck a free-kick at the keeper and Anelka a shot wide before on the hour Stoke made their last two substitutions, the first having been implement before the break due to injury. It brought Kitson into attack in place of Sidebe, Fuller remaining on.

However it was the Chelsea attack threatening to make something happen. This was becoming a better performance in the second half than in the first.

A long ball found Drogba well-placed and after twisting and turning he teed up Anelka whose far-post header was very well saved. Then Alex's header from the corner that followed was on its way until right-back Wilkinson headed over. That was two chances in a minute and from a third, when Terry met Lampard's corner, nothing was going to keep the header out, although Wilkinson made a very good attempt.

The captain's armband was a major feature of the joyous celebration that followed.

Lampard's 74^th minute swerving effort had Sorensen struggling to save as the Blues pressed for a third. The side from the Potteries were now looking beaten.

Lampard and Anelka nearly combined to make it through on a swift counter-attack and Kalou also went close.

Terry became the game's only booking five minutes from time for a shirt-tug.

The closing moments were lively. Anelka shooting wide after he was sent on his way by Lampard and Hilario made his best save of the game from Fuller.

The final whistle put Chelsea into our 21^st semi-final in 16 seasons in all competitions. We will play Aston Villa in a repeat of the 2000 Final.

Chelsea (4-3-2-1): Hilario; Ivanovic, Alex, JT (c), Ferreira; Lampard, Mikel, Malouda; Anelka, Kalou; Drogba.
Scorers Lampard 34, Terry 66.
Booked Terry 85.

Stoke (4-4-2): Sorensen; Wilkinson, Ab. Faye, Huth (c), Collins; Delap, Whelan (Pugh 44), Whitehead, Tuncay (Lawrence 60); Sidibe (Kitson 60), Fuller.

Watch the game in full on Chelsea TV from midnight on Sunday.