Bayern Munich ended Real Madrid’s bid for a 10th European crown, eliminating the Spaniards 3-1 on penalties in a nerve-jangling Champions League semi-final second leg at the Bernabeu.

Bayern will play Chelsea in next month’s final at their own stadium in Munich after the London club eliminated holders Barcelona 3-2 on aggregate on Wednesday.

With the sides locked at 3-3 on aggregate after Real’s 2-1 win after extra time, Bayern goalkeeper Manuel Neuer was the hero for the Bundesliga side when he saved Cristiano Ronaldo and Kaka’s spot kicks in a dramatic shoot-out.

Real keeper Iker Casillas then revived Real’s hopes by saving efforts from Toni Kroos and Philipp Lahm but after Sergio Ramos skied his penalty over the bar Bastian Schweinsteiger rifled home to send the Bavarians through