REUTERS/Kai Pfaffenbach
Real came into the second leg needing a miracle. They had to win at least 3-0 after losing 4-1 on the road last week.
After a lackluster first 80 minutes, Madrid staged a huge comeback in the final 15 minutes.
They got the first goal in the 82nd minute, and another in the 89th minute.
But they were unable to get the final goal, and now the underdogs from Dortmund will play in the final, likely against fellow Germans Bayern Munich.
Here's the Benzema goal that made it 1-0:
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And the Ramos goal:
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Dortmund made it interesting late, but they were the better team overall and they deserved to win.
Below you can find our live-blog with a full account of the game.