The German club won 3-1 on penalty kicks after the aggregate score of 3-3. Real Madrid won the first leg, 2-1.
Cristiano Ronaldo scored twice (once off a penalty kick) and Arjen Robben converted a penalty in the 27th minute to make the score 2-1, and even on aggregate. The score would stay that way past overtime.
Bastian Schweinsteiger knocked home the game-winning penalty kick for the Bundesliga giants.
There won't be a Jose Mourinho reunion against Chelsea. The former Blues manager had succeeded in winning a Champions League title with Inter after leaving Stamford Bridge, but failed for his second-straight year to reach the Final with a star-studded Real Madrid squad.
Real Madrid took 15 shots with six on goal, while Bayern Munich registered 20 shots with six on target. Bayern also controlled the ball for 55 percent of the match.
Here are the highlights from Real Madrid - Bayern Munich: