Antoine Griezmann scored to send Atletico Madrid to the Champions League final for the second time in three years despite a 2-1 defeat at Bayern Munich on Tuesday.
Atletico, which lost to city rival Real Madrid in the 2014 final, progressed on the away goals rule with an aggregate score of 2-2 after winning the semifinal first leg in Madrid 1-0.
Fernando Torres had the chance to settle it with a late penalty, only for Manuel Neuer to save.
Atletico counterpart Jan Oblak saved a penalty from Thomas Mueller in the first half, minutes after Xabi Alonso leveled the tie with a free kick in the 31st.
Griezmann scored in the 54th to put Atletico in the driving seat, before Robert Lewandowski scored in the 74th for a furious finale.