Match of the Day Live: The FA Cup, BBC1, 5.20pm

MILLWALL v Everton (kick-off 5.30pm). Coverage as the Championship Lions host Premier League opposition in Marco Silva’s Toffees. This is the first meeting between these sides since the third round of the 2005-06 competition. A hard-fought 1-1 draw on this ground led to a replay, which Everton won 1-0 thanks to a second-half strike from Tim Cahill. The Lions overcame Hull City in the last round, while Everton defeated Lincoln City. Presented by Gary Lineker, with analysis by Alan Shearer and the aforementioned Cahill.

Digging Up Britain’s Past, C5, 7.30pm

HELEN Skelton and Alex Langlands visit Sherwood Forest to learn more about the legend of Robin Hood – who may or may not have been real – and King John, who definitely was. An archaeological team digs the land surrounding the ruins of King John’s palace at Clipstone in the heart of the forest, hoping to reveal how far the royal buildings stretched. Helen and Alex also visit several of Robin Hood’s supposed hideouts, as well as Nottingham Castle, where he is reputed to have been imprisoned before escaping via a secret tunnel.

Antony Gormley: How Art Began, BBC2, 9pm

YOU may think you’re unfamiliar with sculptor Antony Gormley, pictured, but you will be aware of his most famous work, Gateshead’s Angel of the North. Completed in 1998, it is one of Britain’s largest and most imposing public artworks. It’s also only 21 years old, so won’t be featuring in this documentary, during which Gormley sets out to open our eyes about the earliest examples of art. For decades it was believed that art began with Ice Age Europe’s cave paintings, but new discoveries around the globe suggest that’s not the case. Here Gormley visits some of the sites forcing experts to rethink their opinions and is surprised by the tender images he finds.

Through the Keyhole, STV, 9.35pm

WHAT would David Frost think of Keith Lemon’s irreverent approach to presenting this series? Lemon – the brainchild of Leeds-born comedian Leigh Francis, pictured – pulls no punches when it comes to critiquing the properties he views, and that’s all part of the fun. As ever, those who have opened their doors to the programme’s cameras will not be revealed beforehand.

Close Encounters of the Third Kind: The Director’s Cut, Channel 5, 11.45am

ELECTRICIAN Roy Neary (Richard Dreyfuss) spots a UFO but has a hard time convincing the authorities of what he’s seen. His obsession sparks an epic quest to get to the bottom of the encounter. He crosses paths with a single mum (Melinda Dillon) whose son has been abducted by extra-terrestrials and a French expert (Francois Truffaut) orchestrating a secret government project. One of the best offerings from writer-director Steven Spielberg (which is saying something).