Borussia Dortmund survived a frantic finish at the Bernabeu to reach the Champions League final despite two late goals by Real Madrid.
Real, trailing 4-1 from the first leg, needed to score three times without reply to progress but wasted a series of early chances in an open game.
Karim Benzema gave Real hope from close range in the 82nd minute and Sergio Ramos scored a second soon after.
Real had a penalty appeal turned down before the end as Dortmund held on.