Rovers eventually see off Kempston
Kempston took the lead early in the second half when former Blues player Scott Joseph fired home from long distance.
The holders then raised their game and equalised through Stevie Thomas.
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Hide AdNyasha Sagwete should have put the game to bed with a far post header, but missed the target.
In the final minute, Keshi Anderson was felled in the box, although found himself harshly booked for diving.
The game was wrapped up in extra time though as skipper Paul Andrews powered home a header from a corner in the first period.
It was made safe too when as Anderson finished neatly in the second half as Rovers progressed through to the semi-finals where they will face Langford,