Two late goals left Real Madrid within touching distance of the 3-0 win they needed to qualify for the final of the Champions League, but in the end although the Spanish side won 2-0 thanks to strikes in the last eight minutes, Borussia Dortmund's 4-1 win in the first leg was enough to take them to Wembley.

The game was always going to be an uphill task for the Spanish side after their first leg defeat and they had looked to be on the way out as Borussia had looked in control after a powerful opening from Madrid.

However, it appeared Borussia lost concentration as the game went into the closing minutes and that allowed Karim Benzema to pull a goal back when the tie looked resolved to help set up a finish what was not suitable for persons of a nervous disposition.

As expected Real Madrid included Cristiano Ronaldo, who had been suffering from a hamstring injury, in their side, while Luka Modric was in central midfield instead of Sami Khedira and Michael Essien stepped in at right back.

Borussia were at full strength after right back Lukasz Piazczek recovered from a muscle problem.

There was a magnificent atmosphere in the Bernabeu and as expected the German side were forced to cede the ball to Real Madrid and the Spaniards could have opened the score after four minutes when Gonzalo Higuain's low shot was saved by Borussia goalkeeper, Roman Weidenfeller's outstretched foot, before Ronaldo fired over from the edge of the area five minutes later.

Both sides could have scored in the 13th minute as first Robert Levandowski and then Ronaldo both saw shots saved after controlling long passes, meanwhile Borussia suffered a setback when Mario Gotze was forced off injured and replaced by Grosskreutz.

It was the most intense Real Madrid for a long time and Mesut Ozil should have scored when put through on goal, but the midfielder pulled his shot wide of the post.

Madrid will have feel they should have taken one of those chances and as the half progressed, Borussia gained more control of the midfield and Madrid's attacks began to rely more on long passes, which were comfortably dealt with by the visitors.

Ronaldo fired a free kick high into the crowd in injury time, but although they had not created much themselves, Borussia will have been pleased with the outcome of the first 45 minutes.

Madrid had little option other than all-out attack at the start of the second half, but half fell to Lewandowski, who smashed a shot against the underside of the bar after 50 minutes and five minutes later Mourinho made a double change when he replaced Fabio Coentrao and Gonzalo Higuain for Kaka and Karim Benzema, meaning his side would play with just three men in defense.

Borussia almost took advantage of that after 61 minutes when Reus sent a low ball to Iklay Gundogan, who looked certain to score until Diego Lopez pulled off a fine flying save.

The German side was starting to look in control and Mourinho used his last change to bring on Sami Khedira for Xabi Alonso.

Ronaldo fired over the bar and Kaka stabbed the ball wide of the of the post as the game went into the last 20 minutes with Madrid still needing three goals to qualify.

At the other end Lewandowski saw another chance charged down as his side again took advantage of the extra space in the Madrid defense.

Madrid finally got a goal with eight minutes remaining when Benzema pushed home Ozil's cross from the right to give some life to a game that had threatened to escape them. That saw Madrid up a gear to look for a second that would leave them one goal from an incredible fightback.

Weidenfelller produced a great save to deny Benzema but with Madrid piling on the pressure Ramos lashed home from close range as Borussia failed to clear a cross.

The game went into five minutes of injury time with the crowd on their feet and Madrid giving everything for a miracle. Ramos headed wide from a corner and Madrid kept trying, but at the end it was too little too late for the Spaniards and Borussia will play in the final.

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