Atletico Madrid reached the Champions League final for the second time in three seasons, going through on away goals after a 2-1 defeat at Bayern Munich, in which both sides missed a penalty, with the tie finishing 2-2 on aggregate.

Bayern took the lead with a Xabi Alonso goal in the 31st minute but Atletico levelled through Antoine Griezmann’s seventh goal of the competition in the 54th. Robert Lewandowski set up a dramatic finale with his 74th minute goal but it was not enough.

Thomas Muller missed a first-half penalty for Bayern and Atletico’s Fernando Torres had an 85th minute spot kick saved as Bayern suffered a third straight elimination by a Spanish team at this stage in their three seasons under Pep Guardiola.

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