Juventus head coach Massimiliano Allegri added his voice to those congratulating Carlo Ancelotti and Real Madrid on their extraordinary win against Manchester City in the Champions League semi-finals.

Los Blancos were 5-3 down on aggregate heading into the 90th minute at the Santiago Bernabeu before two goals from substitute Rodrygo forced extra time, and a Karim Benzema penalty sent Madrid through to the final, where they will meet Liverpool in Paris.

The victory marked the fifth time Ancelotti has guided a team to the Champions League final, the most of any manager in the competition's history, surpassing the four by Alex Ferguson, Marcello Lippi and his upcoming opponent in the French capital, Jurgen Klopp.

Speaking at a news conference ahead of Juve's game with relegation-threatened Genoa, Allegri was inevitably asked about Wednesday's remarkable game.

"It was a wonderful match," he said. "I have to congratulate Carlo Ancelotti because he did something extraordinary."

Focusing on his own team's goals, Allegri explained that while he is relieved to have secured Champions League football for next season after nearest rivals Roma could only draw 0-0 with Bologna on Sunday, he wants Juve to continue to set high standards, especially as they prepare for next week's Coppa Italia final against Inter.

"From now to the end of the championship we must try to score as many points as possible. We reached the minimum goal of fourth place with three matches to go, and we are happy with that. [Thursday] we will have to play a good match.

"The Coppa Italia is our goal [now]. At the start of the season, all competitions must be a goal. We will play this match on Wednesday and we are happy to be there."

The former Milan boss also insisted he will play the strongest team he can against Genoa as preparation for the clash with Inter, though did confirm that Danilo and Luca Pellegrini will be missing.

"Tomorrow our strongest line-up will be on the pitch. Danilo will rest and will be back with the team on Sunday morning. Pellegrini has an ankle injury and will not be available.

"Juan Cuadrado and Mattia De Sciglio will return."

Allegri was also asked about the impact of Dusan Vlahovic, January's big-money signing from Fiorentina who has seven goals in 17 appearances across all competitions since joining the Bianconeri.

"I am very happy with Vlahovic. I didn't expect him to be able to immerse himself so well in the team and in Juventus. He has done very well so far and I am really satisfied.

"He, like others, can only get better. Tomorrow he will likely play."

Barcelona defender Dani Alves said "there is no such thing as luck" as he saluted fierce rivals Real Madrid's remarkable late comeback win against Manchester City.

The Spanish champions edged an epic semi-final with City 6-5 on aggregate on Wednesday to set up a showdown with Liverpool – a repeat of the 2018 final – in Paris on May 28.

Rodrygo scored twice in the space of 91 seconds to salvage extra time for Madrid, who trailed 5-3 on aggregate with less than a minute of normal time remaining.

Karim Benzema's penalty in the additional period sealed Los Blancos' passage through to a record-extending 17th European Cup/Champions League final, which is six more than any other team.

It is the third knockout round in a row that Carlo Ancelotti's men, who secured a second league title in three years at the weekend, have recovered from behind.

Indeed, since the Champions League format changed in 2003-04, Madrid are the first team to lose a match in the last 16 (1-0 vs Paris Saint-Germain), quarter-final (3-2 v Chelsea) and semi-final (4-3 v Man City) and still reach the final.

And Brazil international full-back Alves does not believe it is any coincidence that Madrid pulled off another almighty fightback.

"Just like in life, there is no such thing as luck," Alves posted shortly after full-time. "Either you dominate the game or the game dominates you."

Hailing the late impact of two-goal Rodrygo, who is the first player in Champions League history to score twice in the 90th minute of a knockout match, Alves added: "Ah, what would soccer be without the Brazilians!"

With 11 goals spread across the two legs, Madrid's memorable victory against City is the second-highest scoring semi-final in the competition's history, behind only Liverpool's 7-6 win against Roma in 2017-18.

The Reds await Madrid at the Stade de France later this month after surviving a scare of their own before seeing off Villarreal 5-2 on aggregate on Tuesday.

Jonathan Woodgate described Real Madrid's remarkable Champions League win against Manchester City as "probably the best [game] I have ever seen".

Madrid lost 4-3 at the Etihad Stadium in their semi-final first leg – an encounter that was widely lauded for its incredible drama.

But further twists and turns were still to come back in Spain, where City led 1-0 on the night and 5-3 on aggregate with less than a minute of normal time to play.

Rodrygo Goes scored twice in the space of 91 seconds to take the tie to extra time, before Karim Benzema's penalty sent Madrid through with a 3-1 home win.

Former Blancos defender Woodgate was amazed by the match but considered it typical of a Madrid team who have become the first to lose games in the last 16, quarter-finals and semis and still make the Champions League final in its existing format.

"What a game of football. It's probably the best I have ever seen," Woodgate told BBC Radio 5 Live.

"You could not write it. Phenomenal football by Real Madrid, and City had no comeback.

"This stadium, these players, they never know when they are beaten. They just keep going right until the end. At 80 minutes, we thought 'game over' – not this crowd, not this team."

City play Newcastle United, another of Woodgate's former teams, next on Sunday, needing to recover quickly to preserve a one-point lead over Liverpool in the Premier League and secure silverware for this season.

But ex-England man Woodgate has his doubts, adding: "It is such a distressing loss. What ramifications does that have on the league? They could blow up after this."

Thibaut Courtois kept believing as Real Madrid battled back against Manchester City, having already seen the 13-time European champions prove they are "capable of anything".

On Wednesday, Madrid became the first team in the existing format of the Champions League to reach the final having lost matches in the last 16, quarter-finals and semi-finals.

City had been 4-3 winners at the Etihad Stadium in the first leg and looked on course for another victory at the Santiago Bernabeu.

Less than a minute remained with the scoreline still at 1-0 following Riyad Mahrez's seemingly vital goal.

But Rodrygo Goes then netted twice in the space of 91 seconds to take the tie to extra time, where Karim Benzema's penalty sealed a sensational triumph.

Courtois played his part, with one stunning stop from Jack Grealish prior to Rodrygo's first goal counted among eight saves.

Only two goalkeepers – Manuel Neuer against Manchester United in 2010-11 and Jan Oblak versus Bayern Munich in 2015-16 (both nine) – have previously made more saves in a single Champions League semi-final match.

And Courtois said afterwards: "This team and this club are capable of anything. We kept believing until the end, and ultimately we made it possible.

"We knew we were in better shape going into extra time; it was a case of digging in and defending well, which is what we did.

"We weren't great in front of goal – we were missing the final pass, and sometimes it feels like it won't go for you – but with the goal and the fans behind us, we knew anything could happen."

Madrid will face Liverpool in what will be a record-extending 17th European Cup or Champions League final appearance.

Real Madrid hero Rodrygo Goes acknowledged his stunning cameo against Manchester City was his "best version" of himself in the Champions League as he led the 13-time European champions into the final.

Rodrygo had scored a vital goal against Chelsea in the quarter-finals and was required for another rescue act in the last four.

Madrid were still 4-3 behind on aggregate when the winger was introduced from the bench with 22 minutes remaining in the second leg, only for Riyad Mahrez's strike to then put Carlo Ancelotti's men two behind.

It appeared a lost cause, but Madrid do not deal in such defeatism – at least not this season and certainly not in this competition.

Rodrygo steered in from Karim Benzema's cutback with less than a minute of normal time to play, before remarkably heading in another 91 seconds later.

Those goals took the tie to extra time, where Benzema's penalty – won by the forward from a Rodrygo pass – sent Madrid through 6-5 on aggregate.

Benzema's 10th goal of the knockout stage tied Cristiano Ronaldo's 2016-17 record, but it would not have been possible without Rodrygo, who has remarkably scored with seven of his 10 shots on target in home Champions League games.

The Brazil international became the first Madrid substitute to score twice in a Champions League match since Gareth Bale's double in the 2017-18 final against Liverpool. That was the last time Los Blancos won the competition, but they are on the brink again against the same side.

"I'm really happy to be able to score two goals in the semi-final and get Madrid to the place where they always belong – the Champions League final – and to win it," Rodrygo said.

"I couldn't hear what my team-mates were saying to me because I couldn't believe what was happening.

"We were losing the game, my first goal in the 90th minute and we were dead, and then what happened was what happened.

"That's my best version of myself in the Champions League, and I hope I can continue to score a lot more times.

"In this shirt, we learn to always fight until the end and that's the way it was. We conceded a goal and we were almost dead, but with my first goal we started to believe because we've fought back in other games, and then came the second.

"From right now, we turn our attentions to Liverpool. We have another two LaLiga games we can use to prepare for the final."

Sensational comebacks are increasingly a staple of the modern Champions League, and this season they have belonged almost exclusively to Real Madrid.

Los Blancos trailed Manchester City 1-0 heading into the 90th minute at the Santiago Bernabeu on Wednesday, with Pep Guardiola's team leading 5-3 on aggregate.

Yet two goals in the space of 91 seconds from Rodrygo forced extra-time, and Carlo Ancelotti's team set up a meeting with Liverpool in Paris when Karim Benzema converted a penalty to claim a 3-1 win (6-5 on aggregate).

It was the third stunning turnaround Madrid have enjoyed in the knockout stages this campaign, following Benzema's hat-trick against Paris Saint-Germain in the last 16 and Rodrygo's goal against Chelsea to secure an aggregate win in the quarters last month.

Here's a few other incredible comebacks to jog your memory.

Real Madrid 3-1 PSG (3-2 agg), 2022

Madrid have done it the hard way this season, as they target a 14th European title. 

Not many fancied them to get through against PSG, especially when Kylian Mbappe, who had scored a stunning goal in the first leg in Paris in February, put Mauricio Pochettino's team ahead at the Santiago Bernabeu with a crisp finish.

Yet Gianluigi Donnarumma's slack play enabled Benzema to pounce and pull one back, with the striker then scoring twice in two minutes to turn the tie on its head and set Madrid en route to the final.

Barcelona 6-1 PSG (6-5 agg), 2017

Barcelona remain the perpetrators of the most remarkable of all Champions League comebacks, at least in terms of deficit overhauled.

Trailing 4-0 from the first leg of their last-16 tie with PSG, Luis Suarez and Lionel Messi scored either side of a Layvin Kurzawa own goal, only for Edinson Cavani to grab what was expected to be the decisive strike for the visitors.

However, two quick Neymar goals – the second a highly controversial penalty after an apparent Suarez dive – levelled the tie at 5-5.

Then, in the fifth minute of stoppage time, Sergi Roberto struck to create a slice of Champions League history – no side had ever turned around a four-goal first-leg deficit before.

Roma 3-0 Barcelona (4-4 agg, Roma won on away goals), 2018

The boot was on the other foot when Barcelona were dethroned in the Italian capital last year as Roma completed one of the most unlikely turnarounds in quarter-final history.

Eusebio Di Francesco's side came back from a 4-1 first-leg deficit to progress to the last eight on away goals after a thrilling 3-0 win in front of their home fans.

Edin Dzeko, Daniele De Rossi and Kostas Manolas secured the 4-4 aggregate draw and sent the Stadio Olimpico into raptures, as Barca completely fell to pieces.

Liverpool 4 Barcelona 0 (4-3 agg), 2019

Fresh from netting a late winner at Newcastle United the weekend before, Divock Origi allowed the Liverpool faithful to dream by poaching his maiden Champions League goal in the seventh minute.

Jurgen Klopp needed Alisson to be on form as he saved from Messi and Suarez, before another unlikely hero emerged.

Andrew Robertson's injury forced James Milner to left-back and Georginio Wijnaldum into the fray at half-time. By the hour, the Dutch midfielder had Liverpool level thanks to two goals in 122 delirious seconds.

Origi had the final word thanks to Trent Alexander-Arnold's quick thinking from a 79th-minute corner, leaving Barcelona and Messi crestfallen once more. The Reds went on to beat Tottenham in an all-English final.

Real Madrid 1-4 Ajax (5-3 agg), 2019

Despite their impressive display in their 2-1 first-leg defeat, nobody really seemed to think Ajax could turn things around at the Santiago Bernabeu. Sergio Ramos certainly did not – he earned a booking to avoid the risk of a quarter-final ban, earning an extra-game suspension from UEFA in the process.

In the absence of their captain, Madrid completely capitulated amid a fearless and thrilling Ajax – the type of which Liverpool might yet be faced with in the final.

Hakim Ziyech and David Neres put the visitors 2-0 up after only 18 minutes and it was 3-0 just after the hour mark thanks to the inspired Dusan Tadic.

Marco Asensio got a goal back, but Lasse Schone's free-kick beat Thibaut Courtois and sent Madrid crashing out. It was the first time they had ever been knocked out after winning the first leg of a Champions League tie.

PSG 1-3 Manchester United (3-3 agg, United won on away goals), 2019

It really had been quite the season for upsets in Europe's premier competition. A day on from Ajax's thrashing of Madrid, United made history at Parc des Princes.

No side had ever won a knockout tie after trailing 2-0 from a first leg at home, and with 10 senior players missing, including the banned Paul Pogba, United's chances looked slim.

Romelu Lukaku scored just two minutes in, though, and despite Juan Bernat's equaliser on the night, Lukaku struck again after a Gianluigi Buffon error to make it 2-1.

As the game crept towards second-half injury time, Diogo Dalot's shot struck Presnel Kimpembe's arm and the referee awarded a penalty after a lengthy VAR review. Marcus Rashford scored it, United progressed, and the clamour for Solskjaer to be given the permanent manager's job grew louder.

Deportivo La Coruna 4-0 AC Milan (5-4 agg), 2004

Deportivo were among Spain's major forces just after the turn of the century and one of their finest moments in Europe came in April 2004 when, despite being 4-1 down from the first leg of their Champions League quarter-final with AC Milan, they stunned the Italians at home.

Walter Pandiani, Juan Carlos Valeron and Albert Luque had Depor ahead on away goals before half-time, with Fran Gonzalez – who played for them in the second division in the late 80s and is still their record appearance holder – fittingly scored the fourth to make sure of their passage.

Depor were eliminated by eventual winners Porto in the semi-finals, but this comeback stood as arguably the very best in Champions League history until Barca went one better.

Liverpool 3-3 AC Milan (AET, 3-2 on pens), 2005

That famous night in Istanbul. Liverpool found themselves on the end of a hiding at half-time in the 2005 Champions League final, as Paolo Maldini and a Hernan Crespo brace had the Serie A side 3-0 up.

But the second half proved to be one of the most iconic 45 minutes in Liverpool's history, with goals from Steven Gerrard, Vladimir Smicer and Xabi Alonso levelling the match up by the hour mark.

Milan then failed to hold their nerve in the penalty shootout, as Jerzy Dudek's leggy antics in the Liverpool goal helped the Pole outsmart both Andrea Pirlo and Andriy Shevchenko after Serginho blazed the first kick over, resulting in the Premier League side lifting their fifth European title.

Manchester United 2-1 Bayern Munich, 1999

Possibly the two most dramatic minutes in the history of European club football.

United were trailing 1-0 to Bayern Munich in the 1999 final at Camp Nou, with Mario Basler's skidding free-kick into the bottom-right corner looking set to be enough for the Bavarian giants to end a 23-year wait for glory in the continent's top-tier competition.

However, the United of Alex Ferguson's era could never be discounted until the final whistle, and substitute Teddy Sheringham swept Ryan Giggs' shot into the bottom corner to bring the scores level in the 91st minute.

Solskjaer, another late substitute and now the man in the United dug-out, avoided the need for extra time by stabbing Sheringham's header from a David Beckham corner into the roof of the net as United completed an historic treble in astonishing fashion.

Barcelona 5-1 Chelsea (AET, 6-4 agg), 2000

A 3-1 first-leg loss at Stamford Bridge – having trailed 3-0 – had Barca in danger of being on the wrong end of a major 1999-00 Champions League upset prior to the Roman Abramovich era, but in the return match the Catalans showed their true class.

Tore Andre Flo's 60th-minute goal was sending Chelsea through despite Rivaldo and Luis Figo scoring before the break, but Dani Garcia scored seven minutes from the end of regulation to force extra time.

Rivaldo then converted a penalty after Celestine Babayaro was sent off and Patrick Kluivert wrapped things up, crushing Chelsea's dreams.

Mohamed Salah and Liverpool will get another shot at revenge against Real Madrid, who progressed past Manchester City to secure a place in the Champions League final on Wednesday.

Liverpool saw their way past Villarreal on Tuesday, coming back to win the second leg 3-2 to win 5-2 on aggregate.

Immediately following Real Madrid's dramatic win over City, Salah took to Twitter to state his feelings. 

The 29-year-old famously went off injured early as Real Madrid defeated Liverpool in the 2018 Champions League final in Kyiv.

He scored as Liverpool also lost 3-1 on aggregate in the 2020/21 quarter-final stage.

Manchester City boss Pep Guardiola admitted it was a tough pill to swallow after his side fell victim to a miraculous comeback against Real Madrid.

City appeared all set to book their ticket to Paris for an all-English final against Premier League title rivals Liverpool when Riyad Mahrez gave them a 1-0 lead in the 73rd minute on Wednesday in Madrid, pulling them away 5-3 over the two legs.

Jack Grealish saw a shot blocked on the line and then another effort saved by Thibaut Courtois as City threatened to runaway with it, their place in a second straight Champions League finally seemingly secured.

But as Los Blancos threw numbers forward in desperation, they found a lifeline when Karim Benzema was able to find Rodrygo at the edge of the six-yard box, setting up a thrilling finish.

Incredibly, just 91 seconds later Rodrygo got on the end of another cross, flicked on by Marco Asensio, to head home and pull Madrid level on aggregate.

The Madrid forward nearly made it a hat-trick in the 93rd minute, forcing a save from Ederson to take things into extra-time, in which a Benzema penalty would send the Spanish giants, 13-time European champions, through at City's expense.

Speaking to BT Sport after the crushing result, Guardiola said it was a cruel feeling to come so close before ultimately falling short. Indeed, City did not face a single shot on target until Rodrygo netted Madrid's first in the 90th minute.

"Yeah, we were close. We were close – but in the end, we could not reach [the final]," he said.

"It's simple – in the first half, we didn't have game. We were not good enough, but we didn't suffer much. 

"After we scored the goal we were better, we found our tempo, our game, and the players were comfortable on the pitch.

"The last 10 minutes they attacked and attacked, and you suffer, it didn't happen. In that moment you can say okay, they were 10-15 minutes completely attacking, we would not survive – this was not the case. 

"They put a lot of players in the box – [Eder] Militao, with Rodrygo, with Vinicius Jr, with Benzema, with Asensio – all of them, and with crosses, they score two goals.

"We didn't suffer much – we didn't play our best – but these moments in finals, the players feel the pressure. We were close. Football is unpredictable, it's a game like this, and sometimes you have to accept it."

Guardiola acknowledged there were some heartbroken players after the result, but knows they will need to move on quickly and re-focus on the Premier League title race. With four games to go, City hold a one-point lead over quadruple-chasing Liverpool.

"Yes [the players are crushed), I mean, we were close to reaching the final of the Champions League," he added.

"We need some time to process that, then come back with our people at home for the last few games we have."

Guardiola has now suffered an exit at the semi-final stage of the Champions League on six separate occasions as a manager, tying him level with Jose Mourinho.

Carlo Ancelotti believes Real Madrid's history helped inspire their sensational Champions League semi-final comeback against Manchester City on Wednesday.

Los Blancos recovered from the brink of defeat to snatch a dramatic 3-1 victory at the Santiago Bernabeu and book their place in the final in Paris, where they will play Liverpool on May 28.

Ancelotti's side fell 5-3 behind on aggregate when Riyad Mahrez stuck for City in the 73rd minute, but Rodrygo struck twice in the space of 91 seconds to force extra-time.

And the hosts turned the tie on its head when Karim Benzema's penalty set up a showdown with Liverpool and a repeat of the 2018 final, which Madrid won 3-1 in Kyiv thanks to a stunning Gareth Bale cameo.

It was the third successive round in which the 13-time champions came from behind, having done the same against Paris Saint-Germain and Chelsea in the last 16 and quarter-finals respectively.

Ancelotti is set to become the first manager to oversee five Champions League finals, and the Italian was full of praise for the determination demonstrated by his players.

"I cannot say we are used to living this kind of life," he told reporters. "But what happened tonight, it happened against Chelsea and also against PSG. 

"If you have to say why, it is the history of this club that helps us to keep going when it seems that we are gone. It gives you the strength to follow, to continue, to believe.

"The match was very competitive, but the team has not lowered its arms. Much of the merit is of the players, and of the fans who push inside and outside the stadium - in the previous days as well.

"The game was close to finished, and we managed to find the last energy we had. We played a good game against a strong rival. When we are able to equalise, we had a psychological advantage in extra-time. 

"It was difficult as City had control of the game but at the last opportunity, we were able to go to extra-time."

Ancelotti joined Madrid at the end of last season for a second spell in charge, having led Los Blancos to 'La Decima' during his first stint.

He became the first coach to win all of Europe's big five leagues when Madrid wrapped up a 35th LaLiga title on Saturday, and now can look forward to a reunion with Liverpool, who this time last year would have been considered his biggest rivals while the 62-year-old was in charge of Everton.

Ancelotti led Everton to their first win in a Merseyside at Anfield since 1999 in February 2021, and he is relishing going up against Jurgen Klopp's team once more.

"The feeling is that I am very happy, to participate in another final against a great team, I played against them as a player and as a coach," said Ancelotti, who beat Liverpool in the 2007 final with Milan, but famously lost on penalties to the Reds two years earlier in Istanbul.

"I lived there [in Liverpool] for two years. For me, it's like a derby, I still support Everton."

Casemiro says only the silverware remains for Real Madrid after they eliminated Manchester City to progress to the Champions League final on Wednesday.

After losing the first leg of the semi-final 4-3 in Manchester, Madrid had a mountain to climb after Riyad Mahrez made it 1-0 on the night in the 73rd minute.

A Rodrygo double deep into stoppage time astonishingly restored parity on aggregate, before Karim Benzema scored from the penalty spot to make it 6-5 over the tie in extra-time and book Madrid's spot in Paris later this month.

Casemiro, who missed the first leg through injury, believes only the ultimate triumph will trump the sensation of their path to the final.

"Incredible, there is no better feeling," he told Movistar+ post-match. "It was difficult to get here, but we know that the most important thing is missing, the most beautiful thing.

"But we have to enjoy the moment. We have spent two years without an audience in the stands. We have to enjoy now, this is for them."

Real Madrid had to once again fight back from a losing position to go through, having also previously looked beaten by Paris Saint-Germain and Chelsea.

Madrid's latest escape came just four days after wrapping up a 35th LaLiga title, with Casemiro keen to credit the spirit within the dressing room and how that reflects the club's character.

"The great virtue of this team is never giving up, fighting until the end," Casemiro said. "We must congratulate everyone. This is what this club is.

"The key phrase is, 'until the end, let's go Real.' We have to be happy. We have beaten a great team with a great coach. This is for the people. We won the league two years ago and now we were able to celebrate with the fans [this week]."

Jack Grealish strode clear with Dani Carvajal in his dust in the 87th minute. The England star sauntered past Thibaut Courtois with a clever shimmy before passing the ball towards the empty Real Madrid goal.

Manchester City were going 2-0 up at the Santiago Bernabeu, 6-3 up on aggregate. They were going to Paris and a second successive Champions League final, with their season-defining rivalry with Liverpool heading into another engrossing chapter.

Only, that's not quite how it turned out.

Grealish didn't get his goal. Ferland Mendy's desperate lunge into his own net blocked the ball on the line – his clearance even failed to go in off the lurking Phil Foden, who was well-positioned to nudge home.

Of course, City were still going through with their lead on the night at 1-0, but Carlo Ancelotti's Real Madrid are like the White Walkers from Game of Thrones. You might think they're dead, but they just keep coming back.

For so long it looked as though Pep Guardiola had produced something of a masterclass.

Had you shown an unassuming observer the first halves of these two semi-final clashes, the idea that it was the same teams involved simply wouldn't have entered their mind.

Last week's first leg in Manchester went down as an instant Champions League classic, with City taking a 2-1 lead in the break – it was a thrill ride almost from start to finish thanks to attacking ingenuity and defensive mishaps.

It took a little while to get to that stage on Wednesday – in fact, for most of the evening it didn't look like were going to get there at all.

While the onus was undoubtedly on Madrid, there was more than a hint of tension in their performance as they struggled to retain possession and pass through City, who themselves appeared far more willing to play patiently.

And that was perhaps why Madrid simply couldn't find their rhythm. City attacked with purpose and pace last week, leaving spaces for Los Blancos to exploit on the break, but Guardiola didn't need his team to be quite so cavalier so long as they retained their aggregate lead.

A dreadful Vinicius miss just after the restart suggested Madrid's luck was out, though the greater directness that spawned the chance saw them ditch their first-half attempts of intricacy, which never worked against an intensely well-organised City.

That didn't quite usher in a period of Madrid domination, though. Riyad Mahrez slammed into the top-right corner to put City 5-3 up on aggregate with 73 minutes played, and that point City fans will have been loading up Sky Scanner, scouring for flights to Paris. The job was surely done.

Grealish then stepped up late on. Few would've worried that his inability to get that shot past Mendy was a precursor to more mayhem, but three minutes later – after Courtois had denied City's record signing with a long leg – Madrid had themselves a lifeline.

Rodrygo, who has enjoyed something of a coming-of-age tale at Madrid recently, brilliantly got in front of his marker and glanced Karim Benzema's pass beyond Ederson with the flick of his right foot.

Madrid's remarkable ability to turn defeats into victories has characterised a fine campaign for the Spanish champions. Both at home and in Europe, Ancelotti's team have defied the odds to dig themselves out of trouble on an incredibly routine basis.

Paris Saint-Germain, Chelsea, and to an extent City in the first leg of the semi-final, have all seen Madrid's character up close and personal, but surely this was going to be one uphill battle too far?

It wasn't. Ninety-one seconds after providing a little belief, Rodrygo produced a wonderful header that secured one of the unlikeliest of extra-time periods you're ever likely to see, and from there you felt destiny was only taking this one way.

As quiet as Benzema was – by his usual standards, anyway – he still managed to have the final say, stepping in front of Ruben Dias to win a penalty early on in extra-time. He didn't attempt another 'Panenka', but he was no less accurate.

Benzema has now scored 10 goals in the Champions League knockout stages for Madrid this season, the joint-most by a player in a single campaign along with Cristiano Ronaldo in 2016-17 (also for Los Blancos).

It was only fitting that the 43-goal man who has been so crucial to virtually every major win of Madrid's this season was there to have the decisive say once again... And decisive it was. City's desperate late attacks fell flat against Los Blancos' flat-back 10.

When Grealish raced clear with three minutes of regulation time left, a Liverpool v Real Madrid final was inconceivable. City had qualification in the palm of their hands.

But Madrid make the inconceivable routine. Now they'll look to seal their 14th European title on May 28.

Guardiola, meanwhile, has now suffered elimination from six Champions League semi-finals (as many as Jose Mourinho) and has to rally his troops for a Premier League title race that is set to go to the wire.

Carlo Ancelotti will be the first coach to oversee a team in five Champions League finals after Real Madrid's remarkable comeback against Manchester City.

Ancelotti, who returned to Madrid for a second spell in charge at the end of last season, became the first coach to win all of Europe's top five leagues when Los Blancos wrapped up their 35th LaLiga title on Saturday.

But it appeared a shot at a double would be evading Madrid when Riyad Mahrez struck in the 73rd minute at the Santiago Bernabeu to put City 1-0 up on Wednesday and 5-3 up in the tie.

However, two goals in the space of 91 seconds from Rodrygo restored parity on aggregate to force extra-time and then up stepped Karim Benzema to score from the penalty spot and complete one of the most outrageous comebacks in the competition's history.

Indeed, Madrid were responsible for another one of those in the last 16, against Paris Saint-Germain, and they also fought back from the brink against Chelsea. Liverpool are up next.

That meeting with the Reds in Paris will be Ancelotti's history-making fifth Champions League final.

Stats Perform looks at how the other four played out.

2003 - Juventus 0-0 Milan (AET, 2-3 on penalties)

Ancelotti first reached the final of UEFA's elite club competition as a manager 19 years ago, when his Milan team took on fellow Italian giants Juventus at Old Trafford. An infamously dull affair, it ended as a goalless draw after 120 minutes, resulting in a penalty shoot-out. Andriy Shevchenko scored the winning spot-kick.

2005 - Milan 3-3 Liverpool (AET, 2-3 on penalties)

Milan and Ancelotti reached the final again two years later, and it proved a famous night in Istanbul. Milan led through Paolo Maldini and Hernan Crespo's brace, but Liverpool astonishingly hit back in the second half and then went on to triumph 3-2 in the shoot-out, with Jerzy Dudek – who made an outstanding stop in extra-time – the Reds' hero.

2007 - Milan 2-1 Liverpool 

The Rossoneri were back and out for revenge in 2007, and they got it in Athens. Filippo Inzaghi put Milan 2-0 up, with Durk Kuyt's late effort not enough to inspire another comeback.

2014 - Real Madrid 4-1 Atletico Madrid (AET)

Perhaps Ancelotti's most famous Champions League triumph to date came in 2014 when, in his first spell at Madrid, he led the club to 'La Decima'. They were trailing 1-0 to rivals Atletico Madrid until the 93rd minute, when Sergio Ramos struck. Gareth Bale, Marcelo and Cristiano Ronaldo wrapped up a runaway victory in extra-time.

Real Madrid will play Liverpool in the Champions League final after Karim Benzema's extra-time penalty completed a remarkable 3-1 comeback win over Manchester City.

Leading 4-3 from a pulsating first leg, Pep Guardiola's side appeared set for a second successive final appearance when Riyad Mahrez put them ahead in the 73rd minute at Santiago Bernabeu, but comeback kings Madrid sealed their place in Paris with a 6-5 aggregate triumph.

Substitute Rodrygo was their inspiration, as he became the first player to score twice in the 90th minute of a Champions League knockout match to force extra-time.

And Benzema wrapped up a magnificent turnaround for Carlo Ancelotti's LaLiga champions when, five minutes into extra-time.

City carried the greater threat in the first half, Thibaut Courtois making a brilliant stop from Bernardo Silva before denying Phil Foden just prior to the interval.

Madrid should have taken the lead early in the second half, yet Vinicius Junior was unable to convert Dani Carvajal's cross at the far post.

But City had shown more control and the lead was theirs when Mahrez arrowed a brilliant first-time finish beyond Courtois.

City's progression seemed secure, and Madrid appeared down and out when Jack Grealish burst through only to see a strike cleared off the line before Courtois then denied the £100million man moments later.

Yet Madrid do not know when they are beaten. Rodrygo stole in to turn home Benzema's square ball and, 91 seconds later, planted a wonderful header into the top-left corner.

The most remarkable of turnarounds was complete when Benzema calmly sent Ederson the wrong way from 12 yards after he was fouled by Ruben Dias in the box, with Fernandinho missing a glorious chance to prod in an equaliser as Madrid set up a meeting with Liverpool on May 28.

Andrew Robertson has described Liverpool team-mate Luis Diaz as "special" after the Colombian helped fire the Reds into the Champions League final.

Diaz arrived at Anfield in January after completing a move from Porto worth a reported initial fee of £37.5million (€45m), with a further £12.5m (€15m) in add-ons, and he has played a key role in Liverpool's pursuit of an unprecedented quadruple.

Despite holding a 2-0 advantage heading into the Champions League semi-final second leg against Villarreal, an out of sorts Liverpool found themselves 2-0 down and level for the tie at half-time in El Madrigal on Tuesday.

However, Diaz was introduced by Jurgen Klopp at the break and his presence immediately raised the levels of his team, who came back to win 3-2 on the night and 5-2 on aggregate, with the Colombian finding the net himself with a header.

Speaking to Liverpool's official website, Scotland captain Robertson was quick to praise the 25-year-old and the quick transition he has made to his new home.

"He has been special," the left-back said of Diaz.

"We have tried to help him as much as we can – all of the players. We know how difficult it is coming into the club in January. We've tried with the coaches and everyone else to get him up to speed.

"He is a special, special player. With the talent he has and the will to win, he just fits us perfectly."

Diaz has five goals and three assists from 21 appearances in all competitions for the Reds so far (13 starts), and he has averaged more dribbles attempted per 90 minutes (5.16) and has a higher successful dribble percentage (61.64) than any other Liverpool forward this season.

It was a game of two halves in Spain, with Liverpool managing just two shots in the first half prior to Diaz's introduction for Diogo Jota, before having 13 attempts in the second half as they turned things around.

"It was tough to take Jots off and I think he has been excellent this season, but Luis came on and made a big difference," Robertson added. "He played on the left, he started pushing them back, started taking the ball, dribbling and everything, it was a really good half from him.

"He has been special since the day he came in, it's a pleasure to play with him and hopefully he'll only get better as well with a full pre-season and things like that.

"I believe he will get better, which is scary, but what he is producing here and now is pretty special as well."

Liverpool's appearance in the final in Paris later this month will be their third in five years, and Robertson acknowledged how tough it is to reach the showpiece event of Europe's premier club competition, which the club has won on six occasions.

"Unbelievable," he said of the achievement. "An incredibly tough tie, it's never easy, but to be in a final is never, never easy no matter what competition you are in.

"To make it the third in the space of five years is incredible from this group of boys, for us as players and fans, and everyone alike, [we] should never ever take this for granted.

"We just enjoy getting to the final. It's so hard to get to Champions League finals, especially the amount of good teams in this competition. To get to the final is an incredible feeling. It's going to be a special occasion and we are looking forward to it.

"We've got a lot of games between now and the end of the season, but our season has been extended for the right reasons and we are so happy about it. We can't wait to try to go and compete and try to make it number seven."

Jamie Carragher believes Jurgen Klopp is "lying" about who he wants Liverpool to face in the Champions League final and extended an offer to Los Angeles Lakers superstar LeBron James to join him in Paris.

The Reds overcame a scare to defeat Villarreal 3-2 on Tuesday, securing a 5-2 aggregate triumph and punching their ticket to a 10th showpiece in Europe's premier tournament.

Liverpool were trailing 2-0 at half-time before second-half goals from Fabinho, Luis Diaz and Sadio Mane ensured they will meet Manchester City or Real Madrid in this month's final.

It means a remarkable quadruple is still on the cards, with Liverpool having already clinched the EFL Cup and still in the hunt for the Premier League title and FA Cup too.

Manager Klopp insisted he would have no preference over who he faced in the French capital, but former Reds defender Carragher reckons the German would secretly prefer to face newly crowned LaLiga champions Madrid.

"I think he's lying," Carragher said speaking as a pundit for CBS. "I am pretty certain he'd prefer Real Madrid."

Regardless of how many trophies Liverpool end up with this term, Klopp has cemented his status as a legend at Anfield and recently committed his future to the club until 2026.

Carragher thinks that was the right move and is not sure his coaching style would ever suit Barcelona or Madrid, clubs he has in the past been linked with.

He added: "There's lots of great clubs but not another one that suits Jurgen Klopp. Liverpool are not an underdog by any means, they are one of the biggest clubs out there but that thing of when he was at Dortmund and they were fighting against Bayern with no funds, and the same sort of thing against maybe Manchester United and Manchester City in the Premier League.

"I couldn't see him managing a Real Madrid or a Barcelona, I don't think it would suit his style of management.

"I think he needs the intensity of the crowd and that togetherness. He is already and, who knows what Liverpool will have won in four years' time, he is going to be remembered as one of the greatest managers in Liverpool's history and one of the greatest figures in Liverpool's history right up there with the great managers."

Plenty of Liverpool fans will flock to Paris for the final and one particularly famous supporter could be headed to France in the form of NBA great James, who owns a small stake in the club.

And Carragher had an invitation for the four-time NBA champion, who had Tweeted to say: "PARIS HERE WE COME!!!!!!!! @LFC!"

"LeBron, if you want to come to Paris you can join me, and the CBS team, and you can be my guest pitchside," he added.

"I want you next to us in Paris to give us the support that we need to win that seventh European Cup. Come and join us, big man!"

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