Sir Alex Ferguson's men will be out to make sure that such a repeat doesn't happen as this time there will be no second chances.
Derby appear to have turned the corner under manager Nigel Clough with three wins from their last three fixtures including a 3-2 victory over rivals Nottingham Forest, where they came from two goals down to set up the United tie.
United however will prove to be much tougher opponents and go into the game in formidable form with Ferguson's side winning all eight of their games since the Carling Cup defeat against the Rams in early January.
Derby team newsThe Rams will be without defender Lewin Nyatanga after the Welshman picked up his fifth booking of the season against Forest in the fourth round replay.
Winger Stephen Pearson could be named on the bench after recovering from a knee injury which has sidelined him since September.
Despite Nyatanga missing the clash manager Clough should otherwise have a full squad of players to choose from.
United team newsUnited will welcome back defenders Patrice Evra and Jonny Evans for the cup clash.
Evra has been sidelined for over a month with a foot injury which he suffered in the 3-0 home win over Chelsea.
Evans has missed the last four games after picking up an ankle injury in the Carling Cup semi-final second leg victory over the Rams at Old Trafford.
Fellow defender Rio Ferdinand is also expected to play after he missed England's midweek friendly defeat to Spain through illness.
The 30-year-old missed training at Carrington on Thursday but is still expected to be passed fit.
Striker Wayne Rooney is likely to miss out with the hamstring injury he picked up in the 1-0 win at home to Wigan a month ago.
The England international was expected to feature against West Ham in the Premier League last weekend but United do not want to rush the 23-year-old back.