Atletico Madrid are this season’s first Champions League finalists, despite a 2-1 defeat at Bayern Munich.
Diego Simeone’s side went into the match with a 1-0 advantage, knowing an away goal would leave the Germans needing three.
The hosts dominated the opening stages, with Jan Oblak pulling off a stunning save from Robert Lewandowski with 20 minutes on the clock, before denying Franck Ribery five minutes later.
Atletico Madrid are this season’s first Champions League finalists, despite a 2-1 defeat at Bayern Munich.
Diego Simeone’s side went into the match with a 1-0 advantage, knowing an away goal would leave the Germans needing three.
The hosts dominated the opening stages, with Jan Oblak pulling off a stunning save from Robert Lewandowski with 20 minutes on the clock, before denying Franck Ribery five minutes later.
The Slovenian goalkeeper could do nothing to prevent Xabi Alonso’s free-kick hitting the back of the net, but saved the tie for Atleti just minutes later.
Jose Maria Giminez conceded a penalty for grappling with Javi Martinez, but Oblak dived to his right to beat away Thomas Müller’s spot-kick.
Atleti hadn’t even touched the ball in the Bayern box in the first half, but they delivered a trademark sucker punch on 54 minutes.
Fernando Torres fed Antoine Griezmann who fired past Manuel Neuer, though there were suspicions of offside.
That allowed Atletico Madrid to revert to their favoured tactic of sitting deep and looking to hit on the break, with Pep Guardiola’s men now needing three.
With 15 minutes remaining, former Juventus midfielder Arturo Vidal cushioned a header across the box to Lewandowski and his own header levelled the tie on aggregate, with the visitors still holding the lead on away goals.
Moments later, the Polish international could have put his side in the driving seat, but he couldn’t get clean contact as he dived onto a cross.
The Bavarian side had broken Juventus hearts with two late goals in the Last 16, and desperately pushed for another goal as the minutes ticked away.
However, it was to be the Spanish side who would have the best opportunity to kill the tie off.
Fernando Torres was played in by Yannick Carrasco and was brought down by Martinez, though the foul occurred outside the box.
Nonetheless, Cüneyt Çakır pointed to the spot but justice was done as Neuer saved Fernando Torres’ effort.
Gabi denied Lewandowski a winner at the other end, nicking the ball away after the ball had fallen to the striker, while Oblak produced another stunning save to deny David Alaba.
Çakır decided that there would be five minutes of added time, but Simeone's side hung-on to make their second Champions League final in the past three seasons.
The final, which will be played at San Siro, could be a repeat of 2014, as that year's winners Real Madrid take on Manchester City tomorrow with the tie poised at 0-0.
Bayern Munich 2-1 Atletico Madrid [2-2 on aggregate, Atletico Madrid win on away goals]
Alonso 31 (BM), Griezmann 54 (AM), Lewandowski 74 (BM)
Bayern Munich: Neuer; Lahm, Martinez, Boateng, Alaba; Alonso, Vidal, Muller; Costa (Coman, 73), Lewandowski, Ribery
Atletico Madrid: Oblak; Juanfran, Godin, Gimenez, Filipe; Koke (Savic, 93), Gabi, Augusto (Carrasco, 46) Saul; Torres, Griezmann (Thomas, 82)
Ref: Cakir [TUR]