Liam Rosenior’s side needed extra-time to beat ten-men Wrexham at the Racecouse in what has been regarded as an FA Cup classic.
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Garnacho capped off another fine performance with the goal that gave Chelsea a 3-2 lead before Joao Pedro secured the win.
Speaking to BBC One after the game, the winger praised Wrexham for a tough test, saying: "Incredible win. I think it was one of the hardest games of the season so far.
"We are proud, and we are in the next round. I think it was a great goal and a great pass from Dário (Essugo). I am really happy. These games are different.
"You have to fight and the opposition played really good."