Real Madrid 2-1 Bayern Munich (agg. 4-3): Joselu scores dramatic late double to send Spanish side into Champions League final

Joselu was Real Madrid's hero as the former Stoke City striker's stunning late double completed a 2-1 comeback win over Bayern Munich to reach the Champions League final via a 4-3 aggregate victory.

Thomas Tuchel's Bayern thought they were heading into the Wembley final as they led until 88 minutes through Alphonso Davies' second-half stunner, but then Manuel Neuer, who had produced four amazing stops earlier in the game, shockingly spilled Vinicius Junior's shot into substitute Joselu's path to equalise.

As the Santiago Bernabeu pressure rose - and after Harry Kane had been taken off by Tuchel with the score at 1-0 to Bayern - Joselu then turned in Antonio Rudiger's cross from close range in the 91st minute, a winner eventually given after a VAR review of a tight offside call on the forward.

• How the teams lined up | Match stats
• Get Sky Sports on WhatsApp | Download the Sky Sports App
• Stream Sky Sports with NOW

Please use Chrome browser for a more accessible video player

"Joselu... I don't think he'll be sleeping much tonight. He'll be useless in training tomorrow!" said Real Madrid midfielder Jude Bellingham to TNT Sports after the game.

"We've seen it a lot of times where it looks like we're dead and buried. It doesn't matter who scores the goals - someone always manages it. That mentality of never say die.

"He deserves it all - he's been an amazing member of the squad throughout the whole season. This is his night."

The astonishing yet vintage Real Madrid comeback means they will meet Borussia Dortmund in the Wembley final on June 1, a result which also leaves England captain Kane trophyless from his first season at Bayern.

Please use Chrome browser for a more accessible video player

But Bayern fume at late offside call

However, there was late controversy as Bayern were denied what looked like a clear equaliser deep into stoppage time when Matthijs De Ligt scored on the half-volley.

But with the linesman already flagging for offside, referee Szymon Marciniak had also already blown for offside despite replays appearing to show that Bayern's attackers may have been onside.

"It's a disastrous decision from the linesman and from the referee. It feels almost like a betrayal in the end because of that decision," said Tuchel.

"The linesman said sorry, that does not help at this level. To raise the flag in a decision like this, and a close decision in the last minute.

"The referee as well, he does not have to whistle. He sees that we win the second ball and get the shot away to whistle. It's a very, very bad decision and it's against the rules and it's a bad decision. It's a disaster. Tough to swallow. But it's away."

SCENES! Real Madrid's late show in pictures

How Real Madrid did it yet again

Both sides showed their attacking intent early on as crosses at either end from Dani Carvajal and Serge Gnabry went begging in the first five minutes.

Real then nearly took the best chance of the half as Bayern fell asleep at a quick throw, albeit with two balls on the pitch. The hosts worked it to Vinicius who saw a shot tipped onto the post by Neuer, who was also equal to Rodrygo's scuffed shot at the rebound.

Real kept going as Vinicius curled wide moments later, then was guilty of taking a heavy touch in the Bayern box.

It was a tricky opening half for Bayern, whose only shot came through Kane - who tried his luck from 25 yards but Andriy Lunin tipped his goalbound shot round the post.

The first 45 ended with half chances, with Neuer tipping Vinicius' free-kick around the post, before Noussair Mazraoui stung Lunin's gloves with a long-range drive.

Bayern showed more impetus after the break as Davies and Kane saw efforts tipped over, but back came Real.

Vinicius teed up Rodrygo in the box who fired inches wide of the far post, before both players stuck Neuer's palms with efforts from the edge of the box.

Jamal Musiala tested Lunin with a rasping drive from the edge of the box and then Bayern struck with a bolt from the blue.

Kane played a delightful crossfield ball to Davies on the left wing. The Canadian wide man then cut inside to rifle an unstoppable right-footed shot to silence the Santiago Bernabeu.

Almost immediately, Real thought they were level when they went short from a corner and Nacho swept home via a De Ligt deflection. But VAR correctly spotted that the Real Madrid captain had barged Joshua Kimmich out of the way with two hands to the face, so referee Marciniak disallowed the strike.

Kane hit the side netting before he and Musiala were bizarrely substituted off with Real just one goal from forcing extra-time. The additional period though was not needed, as Joselu also came on and stole the show.

First, Neuer thought he had Vinicius' tame shot under control but the Bayern goalkeeper spilled it into Joselu, who could not miss from a few yards out.

Brahim Diaz was then denied by a last-ditch Eric Dier block. No matter, Joselu was at it again from the short corner.

Kim Min-Jae played everybody onside as Rudiger squared for Joselu to tap home. Offside was initially given but VAR corrected the call, as Real players spilled onto the pitch in celebration.

With Kane watching on from the substitutes' bench, there was time for De Ligt to rifle home an equaliser but referee Marciniak had already blown for offside, when his assistant arguably should have delayed raising his flag. Tuchel was furious and nearly saw red for his protests.

After 15 minutes of stoppage time, Real's path was finally sealed. Another brilliant Bernabeu comeback story.

Ancelotti: This is the best squad of my career

Real Madrid manager Carlo Ancelotti to TNT Sports:

"We played well. To be honest, we had opportunities and control of the game. And we had the strength to go up when they scored. It happened again here. It's quite useful. The Bernabeu, with the support of our supporters, we can do something that is unexpected.

"To believe. We put fresh legs on the pitch. Joselu did a fantastic job, he's a fantastic striker. We knew we could use the wings more to put crosses. We had a lot of energy at the end of the game.

"We are going to enjoy it now until the final. We have fantastic days ahead to celebrate the title and this win.

"I'm really grateful to the players. They worked really hard in a fantastic atmosphere. They are humble and generous. This is the best squad I've had in my career."

Tuchel on taking Kane off: My front four had cramps

Bayern Munich manager Thomas Tuchel to TNT Sports:

"We were almost through, almost there. It was a very unusual mistake of our best player for the equaliser. Then we conceded in a very narrow decision, the second one in stoppage time.

"You are never fully sure because it's in Madrid. We were not clinical enough in our counter attacks, we could have scored if we were more clinical and calm. Part of the story is we start with the front four and all four players need to go out because of injuries and cramps. It's too much at that level.

"Harry had back problems and Jamal [Musiala - also subbed off in Madrid] was just dead having had an injury in the last week.

"It's a bit too much as you want to have the chance to have a full competition in every position and have the players fit and available for 90 minutes.

"If you are through in the 88th minute, you see the end of the tunnel. It wasn't our very best match but we said before that we didn't need to be perfect, we just needed to be good enough this evening. The team have everything, we did it together. Then with player out for cramps, we conceded a goal we never concede with our goalkeeper.

"The good situation is we gave everything. That's the most important thing, then in sport you accept the result."

Bellingham: I've been dreaming of CL final since I was seven

Real Madrid and England midfielder Jude Bellingham to TNT Sports:

"At Wembley, against Dortmund - I can't believe it. I'm so looking forward to it.

"At this point in the competitions, anyone who's still in it deserves to be there. Hopefully it will be a great game.

"In the changing room, I was looking around and thought I couldn't be in a better position with better people. Where else would I rather be?

"I was seven at Birmingham, dreaming of nights like this. I'm so happy. You come here and it's all they talk about - they've had the 14th [Champions League title] but they want the 15th.

"That's why I love being here - you can never be settled. You're always in a dangerous position when you're relaxed and you're comfortable. Here, they don't give you that chance."

What's next?

LaLiga champions Real Madrid travel to Granada on Saturday in a game which could relegate the 19th-placed club, kick-off 5.30pm.

Bayern Munich are back in Bundesliga action on Sunday when they host Wolfsburg live on Sky Sports Mix, kick-off 4.30pm.

How to book Fury vs Usyk on Sky Sports Box Office

It's one of the biggest sporting events in a generation. Tyson Fury and Oleksandr Usyk collide for the undisputed world heavyweight championship on Saturday May 18, live on Sky Sports Box Office. Book the fight now.

Win £250,000 with Super 6!

Correctly predict six scorelines for a chance to win £250,000 for free. Entries by 3pm Saturday.