The 34-year-old will get his chance to face Rochdale after missing out on the goalless draw at Spotland due to suspension.
Woolford was part of the Sheffield United side which looked to have earned a goalless draw at Manchester United in the competition in 2016, only for Wayne Rooney’s stoppage time penalty to break Blades hearts.
But that experience helped the former Bristol City and Millwall man realise that Davids shouldn’t be afraid to stand up to Goliaths.
“It definitely does (get you going),” he said.
“Old Trafford’s a special one for me growing up as a Man United fan, but it certainly does.
“You get the support right behind you and everybody wants it as the underdog.”
Woolford watched from the stands at Spotland after picking up a red card in the league victory at Farsley Celtic.
Although frustrated at missing out on his chance to feature, Woolford hopes he will get his opportunity in the replay.
“It was a disappointing one when the suspension hit,” he said.
“It was disappointing to miss out on such a special one.
“I was rooting for the lads to get the win but a draw means I’m back in contention. I’m really glad I get a second chance to give it a go.”
Watching from the stands, however, allowed Woolford to see the game differently.
He added: “I think I’ve learnt a lot in regards to Rochdale and us, as a team.
“The way the lads stood up to the challenge was impressive.
“Sometimes occasions like that can get on top of teams ands individuals. But everyone stood up fantastically.”