Quique Sanchez Flores says the Hornets are privileged to be competing at Wembley on Sunday and the Watford head coach would love to play a role in rewriting the club’s history by taking them into their second FA Cup Final.

It has been a memorable season for Watford after reaching 41 points in their first year back in the Premier League. But the best could be still to come for the Hornets, who are expected to sell out their 31,500 ticket allocation today, with the team facing Crystal Palace in Sunday’s FA Cup semi-final.

This is only the sixth time the club have reached the last-four of the competition, having last matched this season’s run in 2007, with their only final appearance coming in the 2-0 defeat to Everton in 1984.

Flores’ role in keeping Watford in the top flight is already a major achievement in the club’s history but the chance to lead the team into next month’s final would provide an extraordinary end to his first season in charge.

The Hornets boss, whose side stunned holders Arsenal after a 2-1 win in the previous round, said: “I would like [to take Watford into the final]. It’s part of my history as a coach to play in finals against amazing teams.

“To keep in the history of Watford it would be amazing for us because we are living an amazing experience this year. I would love to stay in the history of Watford.”

Flores added: “It will be an amazing occasion. It’s an amazing stadium and event. Everyone this weekend is focusing on what happens at Wembley on Saturday and Sunday so we are privileged.

“This is a competition where so many teams participate and finally there is only four left. In this four we are inside so we have a lot of reasons to be happy and to try to succeed.”

The Spaniard is no stranger to knockout success in Europe having taken Benfica to the Portuguese League Cup in 2009 and guided Atletico Madrid to the Europa League trophy and UEFA Super Cup in 2010.

Flores hopes to use his experience to the Hornets’ advantage but insists the most important thing he has learnt is to remain focused on the immediate challenge rather than getting distracted by looking too far ahead.

He said: “What I learnt [cup success] is you need to leave every single match step by step. It’s impossible to think about the final if you don’t play the semi-final and don’t completely focus on it.

“The most important thing is this is the kind of match is not returned so everything you are doing, in terms of mistakes or the right decisions, happens and you don’t have space or time to rectify these things.

“In the match you have to take the best decision you can and always with a very positive mind thinking about what is possible.”

Watford will face a Crystal Palace side two points and four places below them in the table.

The Eagles won 1-0 at Vicarage Road in September but Watford claimed a 2-1 win in February’s match at Selhurst Park.

Flores said: “The style of Crystal Palace is not simple. It’s complicated because in the midfield and the back they have English style and in the strikers they are European style.

“They are very quick and have great power and are skilful. They mix very well a couple of styles so it’s difficult to play against them.”

This weekend’s clash is a repeat of the 2013 Championship play-off final when an extra-time penalty from Kevin Phillips fired Palace to promotion.

Flores knows there is the possibility Sunday’s clash could go the distance and is preparing for all scenarios.

He said: “When you plan you plan to be competitive and to win. The win could come in extra time, in the last minute or on penalties.

“Whether it comes in the first half or second, the most important thing is to be competitive by the time we have to play against Crystal Palace.”

The Hornets will be without attacker Nordin Amrabat after he was sent off at West Ham United.

But the rest of his squad is fit with Flores’ toughest decision appearing to revolve around which goalkeeper to start.

Costel Pantilimon has played in the last three FA Cup games but Heurelho Gomes has been exceptionally consistent and saved two penalties in Saturday’s win at West Brom.