Watch highlights of Real Madrid Vs. Bayern Munich in the Champions League semi-final, second-leg.
Arjen Robben celebrates scoring for Bayern. Reuters

Bayern Munich will play Chelsea in the Champions League final on their home ground after a dramatic penalty shootout win over Real Madrid at the Bernabeu. The match finished 2-1 on the night, 3-3 on aggregate after extra time, before Bayern prevailed 3-1 on spot kicks.

A thrilling end-to-end first half that featured both defenses struggling, saw two Ronaldo goals, one a penalty, giving Real a 2-0 lead, before Robben pulled one back with a peanlty of his own for Bayern, to make the scores level on aggregate. With no goals for the rest of the 90 minutes, or extra time, the match went to penalties. And, after Real missed their first two, Schweinsteiger was the hero as he converted the winning kick.

Both sides came out of the box swinging, but it was Real Madrid who struck first, just six minutes in. Angel Di Maria struck a powerful effort that David Alaba dove to block, but the ball inadvertently hit the defender's hand. Despite Bayern's protestations, the referee awarded the home side the spot kick and Ronaldo made no mistake in slotting the ball away.

And Real took the lead in the tie for the first time less than 10 minutes later. Mesut Ozil slipped a simple pass through to Ronaldo, who was left completely free by Philipp Lahm and the Portuguese scored his second of the match with a low side-foot finish past Manuel Neuer.

Despite going two goals down early, Bayern were not fazed at all and continued to control the midfield, while looking mighty dangerous going forward. And they got their reward in the 27th minute. The referee pointing to the spot for the second time as Pepe was adjudged to have brought down Mario Gomez to prevent him getting on the end of a cross. Robben stepped up and precisely struck the ball into the bottom-left corner to give Casillas no chance.

It appeared as though both coaches told their players to cool it down a notch during the break, as the second-half was much more reserved. Bayern arguably had the better of things as they continued to have an element of control in the midfield, with Real happy to play on the break. The best chance fell to Mario Gomez, but he couldn't get his footing right and lost control when in a clear-cut shooting position.

And so the semi-final headed to extra time. There were few openings in the first period, but Real looked the more jaded of the two sides, perhaps showing the effects of their win over Barcelona on Saturday.

With neither side wanting to make a mistake the match headed to the drama of penalties. Incredibly Neuer saved the first two from Ronaldo and Kaka. Yet misses from Toni Kroos and Philipp Lahm let Real back in. But when Sergio Ramos skied his kick over the bar, Schweinsteiger was given the chance to win it for Bayern. And the vice-captain made no mistake to send the Bavarians wild.

[] Real Madrid 1-0 Bayern...

by all-goals

[] Real Madrid 2-0 Bayern...

by all-goals

Real Madrid Penalty and Robben scores On Casillas

by TenMillionSlaves

Real Madrid 2-1 Bayern Munich - Penalties

by goalsarena2012-3