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Atletico Madrid are through to their second Champions League final in three years after beating Bayern Munich on away goals.
The Spanish side held a slender 1-0 lead heading into the second leg at the Allianz Arena but that was cancelled out by Xabi Alonso's deflected free-kick just after the half-hour mark.
Thomas Muller had the opportunity to put the German champions in front from the penalty spot, but Jan Oblak saved his effort and it was to prove a crucial miss as Antoine Griezmann fired in an equaliser to hand Atletico a vital away goal.
With Bayern needing two goals to progress to the final, they surged forward and were finally rewarded when Robert Lewandowski's header left the tie 2-2 on aggregate, but they could not find another goal as Atletico held on to claim a spot in the May 28 decider.
While Atletico appeared happy with their slender advantage, Bayern made their intentions clear from the start as Lewandowski was twice denied by Oblak before David Alaba was tripped on the edge of the area in the 31st minute.
Alonso stepped up to take the free-kick and after firing hard and low his effort deflected off Jose Maria Gimenez into the back of the net to give the home fans plenty to cheer about.
Just moments later Gimenez pulled Javi Martinez back to leave the referee with little choice but to award a penalty only for Oblak to deny Muller with a superb save.
Bayern had further opportunities to extend their advantage before the break but they could not find a way through and it was to prove crucial as Griezmann combined with Fernando Torres to grab a crucial away goal nine minutes into the second half.
After Lewandowski headed in from close range, Atletico were controversially awarded a penalty when Torres was tripped by Martinez - replays showed the incident took place outside the box - but Manuel Neuer palmed away the strike to keep Bayern's hopes alive.
They pushed forward but were stopped in their tracks by Atletico's time wasting and the Spanish side held on to set up a final date against either Real Madrid or Manchester City.
"It was a fantastic first half from Bayern. Then, we saw a formidable team and had little response to the situations they proposed," Atletico manager Diego Simeone told the club's official website.
"The second half was more even. We went out very well in the counter-attack that resulted in the goal and that allowed us to have an advantage."
Reflecting on the loss, Pep Guardiola told Bayern's official website: "I gave my life for this team, I fought and did my best.
"We played as we wanted to play today but we came up one goal short. I'm sorry, especially for the players."