The world may be rejoicing at Leicester City's fairytale triumph, but in its own way, Atletico Madrid has been living out its own fairytale and that too for a second time – they defeated Bayern Munich on away goals on Wednesday in the Champions League semi-final to book a spot in the final of the Champions League for the second time in three years (video of all the goals above).

A pulsating match saw goals, penalties and even jousting breaking out at the touchline. Atletico came in with a 1-0 lead from the first leg, but Bayern's Xabi Alonso levelled things in the 31st minute. In what was ultimately the turning point of the match, Bayern could have put the match to bed after winning a penalty two minutes later.

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Unfortunately for them, Thomas Muller's low shot was saved, and Atletico lived on as their French forward Antoine Griezmann put them in front with a goal in the 53rd minute, which many felt was from an offside position.

But Bayern hadn't given up. Robert Lewandowski scored in the 74th minute, and they surged forward, looking for an all-important third goal to put them through. More drama followed late in the game in the 83rd minute when Atletico, after winning a penalty of their own, failed to score.

Even Atletico's manager Diego Simeone lost his cool. The manager appeared to shove one of the assistants in the dying stages of the game. It might come back to cost him later, but he will probably just be relieved that his team managed to clinch a spot in the final.