( CNN ) -- Bayern Munich will enjoy home advantage when they play Chelsea in the European Champions League final after defeating Real Madrid at the Santiago Bernabeu following Wednesday 's dramatic penalty shootout . Bastian Schweinsteiger struck the winning penalty kick after nine-time champions Madrid won the second leg semifinal 2-1 , leveling the tie 3-3 on aggregate , and forcing the match into extra time . After a goalless 30 minutes , the match went to penalties . Bayern won the shootout 3-1 and booked their place in a final that is to be hosted at the German club 's Allianz Arena stadium on May 19 , where home fans will be hoping for a fifth European crown and first since 2001 . `` That was a magical night , '' said Bayern coach Jupp Heynckes , who in 1998 led Real to the European title for the first time in 32 years before being sacked after only one season in charge . `` We were in real trouble in the first 15 minutes , but after that we played outstanding football for long periods . I 'm specially delighted for my players and the club management . '' Madrid started in explosive fashion , dominating the opening exchanges , and quickly won a controversial penalty when Bayern defender David Alaba was adjudged to have handled the ball even though it had been blasted at him from close range . Cristiano Ronaldo converted the penalty , leveling the tie almost as soon as it had begun . And things got worse for Bayern when Madrid 's German play maker Mesut Ozil slide a perfect pass into the path of Ronaldo who coolly slotted home his , and Madrid 's , second . Incredibly the two goals were Ronaldo 's 55th and 56th of the season . But even with a two-goal cushion Madrid never looked particularly comfortable following their exertions defeating arch-rivals Barcelona in the Spanish league last Saturday . `` The final will be disputed between the fifth team in the Premier League and the runners-up in the Bundesliga , '' Real coach Jose Mourinho said after failing to set up a clash with his former club Chelsea . `` Both used their reserve players this weekend , while Real Madrid and Barcelona faced each other in the most important match of the season in the Spanish league . People listened to me when I said the calendar had to be adjusted in these circumstances in Italy , and it made me happy . `` I do n't have that power or enjoy such respect for my opinions here in Spain . We 've started the most important month of the season with midweek games and it 's resulted in yesterday 's and tonight 's results . Bayern won and were luckier than us . '' The Portuguese coach lifted the trophy with Porto in 2004 and led Inter Milan to victory over Bayern in the 2010 final but has fallen at the last-four stage in his two seasons with Real -- and could also take Chelsea no further than the semis . With Germany international Mario Gomez causing Madrid 's static defense problems and former Real and Chelsea player Arjen Robben using his pace to good effect , Bayern carved out chance after chance . It was to be another , less controversial penalty decision that would throw the visitors a lifeline when Portugal defender Pepe bundled over Gomez . Robben dispatched the penalty kick even though Iker Casillas got a hand to the ball . It would n't be the last time he would get his hand to a penalty kick . That goal meant that even though Madrid led 2-1 by halftime , the tie was level 3-3 on aggregate following Bayern 's 2-1 first leg victory in Munich last week . Perhaps unsurprisingly the second half was a tense affair devoid of the fluidity that had marked the first period . The game ground down to an attritional stalemate as the final whistle was blown and the match went to extra time . Again the two teams could n't be separated and the match went to penalty kicks . Ronaldo approached to take Madrid 's first , having not missed a penalty all season with 13 goals from the spot . But sensationally his kick was saved by Bayern 's Manuel Neuer . When Kaka saw Madrid 's second penalty clawed away by an even better Neuer save , the home side seemed dead and buried . But Iker Casillas pulled out two stunning saves of his own to level the shootout . It was n't to last . Sergio Ramos blasted over and Schweinsteiger stepped up to send the Germans home .
Bayern Munich will play Chelsea in the Champions League final . The German team lost to Real Madrid 2 - 1 , but drew 3 - 3 on aggregate . The match went to penalties ; Ronaldo missed Madrid 's first . Bayern won through 3 - 2 and will enjoy home advantage in the final .