Anthony Martial was also back after recovering from an injury that saw him miss the last four games and got the breakthrough for United in the 73rd minute.
The Red Devils have a chance to end their six-year wait for a trophy as they are set to contest the League Cup final with Newcastle on February 26.
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United have only been beaten once in their last 14 games in all competitions.
“Jadon, I know he can play as a 10 and a winger,” Ten Hag told Sky Sports when asked about the 22-year-old coming on as a substitute. “We can mix it often and that is what I like.”
On having to make more important decisions given the strength of his squad, the United manager said: “It’s a luxury problem but it’s how we wanted it. It’s normal at Manchester United to play every few days. Players prefer to play games than to train.”
United have a busy schedule ahead of the League Cup final, including two Premier League matches against Leeds and both of their legs in the Europa League against Barcelona.
After back-to-back defeats at the start of the season, it was expected to be another difficult season for United but Ten Hag has turned things around and he is still looking for improvements.
“Of course when you win a semi-final it’s OK,” he said. “The first half wasn’t great to be honest. I thought it was professional but too slow and we didn’t create too many chances. The second half was much better, more tempo and we also made some good goals.
“We were 3-0 up so I didn’t want to give them momentum. They were waiting for one chance to get into the game. We were searching for gaps but I think Forest played well, defended compact and we didn’t find the gaps.
“I don’t think we were frustrated but we had to be a little bit smart. You don’t want to give anything away so keep the ball. We should have done more investment like quicker switches and movement in behind.
“We just want to improve every day. I think we have a good squad so we have to demand and control the high standards. You have to bring that every game. We are Manchester United. When you are a United player you have to match the standards.
“We have had to make lots of compromises in the season so far so hopefully now they [all players back from injuries] are all available. If you want to win trophies, you need them all to be available. You saw tonight you can bring a new dynamic off the bench.”
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