AC Milan players, including Kaka, far left, look on in dismay after conceding a goal in a 2-1 Italian Cup loss to Udinese.
Antonio Calanni/AP

MILAN (AP) - Udinese rallied to win 2-1 at AC Milan and reach the Italian Cup semifinals, sending Clarence Seedorf to his first defeat as manager.

Mario Balotelli scored off Valter Birsa's cross in the seventh minute, but Udinese tied the score on Luis Muriel's 45th-minute penalty kick after Urby Emanuelson fouled Silvan Widmer. Nicolas Lopez scored in the 78th, three minutes after entering, when he ran most of the length of the field without a tackle being attempted.

Milan is 18 points out of third place - the last Champions League berth - in Serie A. Fans booed Rossoneri players during the game and when they returned to their locker room at halftime.

Udinese, which eliminated Inter Milan two weeks ago, plays Fiorentina or second-division side Siena in the next round.

Copyright 2014 Associated Press. All rights reserved. This material may not be published, broadcast, rewritten, or redistributed.

SI Apps
We've Got Apps Too
Get expert analysis, unrivaled access, and the award-winning storytelling only SI can provide - from Peter King, Tom Verducci, Lee Jenkins, Seth Davis, and more - delivered straight to you, along with up-to-the-minute news and live scores.