The draws for the last four of the FA Cup has been conducted on Sunday.
Manchester United will play Chelsea in the first semi-final tie.
The Red Devils needed a last-gasp Harry Maguire goal to eliminate Norwich, while Chelsea beat Leicester City 1-0.
Arsenal will clash with former Premier League champions Manchester City in the other game.
The Gunners booked their place with a 2-1 victory at Sheffield United earlier on Sunday, while City saw off Newcastle United.
The semi-finals will be played at Wembley and will take place across the weekend of July 18-19.
FA Cup semi final draw in full:
Manchester United vs Chelsea
Arsenal vs Manchester City.