Real Madrid got two late goals from Rodrygo and in extra time Karim Benzema converted a penalty kick to send Madrid through to the final in Paris.
A tight evenly matched first half
The first five minutes were back and forth as Real Madrid was down a goal was looking to equalize the game on aggregate. Things got heated in the seventh minute as a scrum ensued but cooler heads prevailed.
Manchester City was given a free-kick afterward but it went right into the hands of Thibaut Courtois. Kevin De Bruyne tested Courtois again in the 15th minute but again the Belgian keeper was able to make the save.
In the 20th minute, it was Bernardo Silva's turn to get a shot on target for the visitors but again Courtois denied them with a huge save. Real Madrid earned a free kick in the 27th minute but Toni Kroos' shot went off the crossbar and out.
Phil Foden had his first scoring opportunity of the game with a shot from distance in the 39th minute but another timely save by Courtois kept the match level at 0-0.
City takes the lead but Madrid come back
Gabriel Jesus got the first on target of the second half but Courtois made another routine save. Madrid a couple of minutes later started to press and looked like they were playing with more urgency down a goal.
In the 68th minute, Carlo Ancelotti made his first change of the game bringing on Rodrygo for Kroos. Riyad Mahrez finally broke the deadlock in the 73rd minute as he got a solid pass from Silva and beat Courtois to make it 1-0 for the visitors.
Real Madrid made two more changes in the 75th minute, bringing on Eduardo Camavinga and Marco Asensio who was able to test Ederson a minute later but the ball went right into his hands.
Benzema had another shot on target in the 80th minute but even with the Ederson save the offside flag went up. Joao Cancelo with an amazing shot on target in the 86th minute but Courtois, this time with a diving fingertip save, kept the ball out.
Real Madrid got on the scoreboard in the 90th minute as Rodrygo tipped a Benzema cross into the back of the net and the fourth official showed six minutes of added time.
Madrid scored again moments later as Rodrygo scored his second of the night with a stunning header and it was now 5-5 on aggregate with four minutes left in regulation.
The whistle blew and the game went into extra time to decide who would advance to the UEFA Champions League final.
Real Madrid earned a penalty in the 93rd minute as Benzema was taken down in the box and he was able to beat convert to give Madrid the lead.
Benzema was subbed off in the 104th minute and was replaced by Dani Ceballos. The first half of extra time finished with the home side up by one with 15 minutes left.
Ancelotti made two more changes in the 115th minute taking out Vinicius Jr and Eder Militao for Lucas Vasquez and Jesus Vallejo. Three minutes were added to the 120.
The final whistle blew and Real Madrid booked their spot in the final against Liverpool.