The 20-time English champions will take on their Premier League rivals in the last four at Wembley as Jose Mourinho’s men look to win some silverware this season.
The Red Devils are in second place in the Premier League table but two points ahead of Liverpool FC in the race to finish as runners-up to Manchester City.
Manchester United won the FA Cup in 2015 when Louis van Gaal’s side were 2-1 winners against Crystal Palace in extra time thanks to Jesse Lingard’s winner.
The Red Devils eased to a 2-0 victory over Brighton and Hove Albion in the FA Cup quarter-finals last month.
Manchester United lost 2-0 to Tottenham at Wembley in their Premier League meeting back in February following goals from Christian Eriksen and Chris Smalling’s own goal.
Herrera warned Manchester United to expect a difficult fixture against Tottenham in their FA Cup semi-final.
“It doesn’t matter who you’re playing against in the FA Cup semi-final it’s special,” Herrera told Man United’s website.
“No one team is going to beat the other easily and we know that often semi-finals and finals can be won by teams in the last minutes of the games.
“It was the same in the League Cup final last season when we won in the last few minutes and also in our FA Cup semi-final against Everton [in 2016] when Anthony Martial scored [the winner] and the final against Crystal Palace when Jesse [Lingard] scored in extra-time.
“So we know what we are going to face at Wembley, it won’t be easy and we will really need to fight against a very good team.”
Mourinho led Manchester United to Europa League and League Cup glory in his first season in charge at Old Trafford.
The Red Devils signed Chile international Alexis Sanchez in a free transfer in January.
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