Madrid - Bayern Munich beat Real Madrid 3-1 on penalties on Wednesday to secure their place against Chelsea in the Champions League final.
Four-time champions Bayern will become the first team to play the final at their home ground after Bastian Schweinsteiger beat goalkeeper Iker Casillas with the final spot kick for the Germans to reach their second final in three seasons.
In the shootout, Manuel Neuer saved from Cristiano Ronaldo and Kaka to put Bayern on course before counterpart Iker Casillas denied Toni Kroos and Philipp Lahm to drag Madrid back into it.
But after Xabi Alonso scored Madrid's first, Sergio Ramos sent his shot high over the bar and Schweinsteiger sent his shot straight down the middle to secure Bayern's place in the final at the Allianz Arena on May 19.
Bayern's fourth victory in five semi-final meetings over Madrid capped an exciting second leg at the Santiago Bernabeu stadium which Madrid won 2-1 to level the aggregate score at 3-3 following Bayern's victory by the same margin last week.
Ronaldo followed up a sixth-minute penalty with his 56th goal of the season in the 14th minute to put Madrid on course for the May 19 final, only for Arjen Robben to reply with a 27th-minute penalty.
Real Madrid: Cristiano Ronaldo 6 penalty, 14
Bayern Munich: Arjen Robben 27 penalty
Halftime: 2-1; 90 minutes: 2-1; 120 minutes: 2-1
Real Madrid: Cristiano Ronaldo missed, Kaka missed, Xabi Alonso scored, Sergio Ramos missed
Bayern Munich: David Alaba scored, Mario Gomez scored, Toni Kroos missed, Philipp Lahm missed, Bastian Schweinsteiger scored
Referee: Viktor Kassai (Hungary)
Real Madrid: 1-Iker Casillas; 17-Alvaro Arbeloa, 4-Sergio Ramos, 3-Pepe, 12-Marcelo; 14-Xabi Alonso, 6-Sami Khedira; 22-Angel Di Maria (8-Kaka 75), 10-Mesut Ozil (11-Esteban Granero 111), 7-Cristiano Ronaldo; 9-Karim Benzema (20-Gonzalo Higuain 106)
Bayern Munich: 1-Manuel Neuer; 21-Philipp Lahm, 17-Jerome Boateng, 28-Holger Badstuber, 27-David Alaba; 31-Bastian Schweinsteiger, 30-Luiz Gustavo; 10-Arjen Robben, 39-Toni Kroos, 7-Franck Ribery (25-Thomas Mueller 95); 33-Mario Gomez
First leg: Bayern Munich 2 Real Madrid 1