Tony Pulis' in-form side will face Manchester City at Wembley on Saturday when they will aim to win a major trophy for the first time in 39 years.
The Stoke boss invited honorary president and 1966 World Cup winner Banks into the dressing room before their quarter-final tie against West Ham to address the players.
Wembley way: Stoke thrashed Bolton to book their place in the FA Cup final
The result was a victory that was repeated in the semi-final with a resounding win over Bolton.
'Tony just got me in to say a few words,' Banks, a member of that successful 1972 side, told the BBC's website.
'I just kept it simple and told them what a great day it would be for them if they could get through to play at Wembley for the semi-final.
Safe hands: Legend Banks inspired Stoke with a 'simple' speech to their players
'I knew a lot of them hadn't played there before. I told them to remember that the crowd would get behind them whatever happened, but, if they gave 100 per cent, they would roar their heads off for them.
'They really were something special in the semi-final. Stoke is a city that has not had much to shout about recently, with employment problems and things like that.
'So this has given the locals a lovely lift and something to cheer about - and it's brilliant that the club always acknowledges that the fans have been part of their success too.'
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Source: Daily Mail
Source: Daily Mail