Borussia Dortmund's Robert Lewandowski (L) controls the ball as Real Madrid's Sergio Ramos falls during their Champions League semifinal second leg soccer match at Santiago Bernabeu stadium in Madrid, April 30, 2013. Despite losing the match 2-0 Dotmund went through 4-3 on aggregate to play in the Champions League final. [Photo/Agencies]

MADRID - Two late goals left Real Madrid within touching distance of the 3-0 win they needed to qualify for the final of the Champions League, but in the end although the Spanish side won 2-0 thanks to strikes in the last eight minutes, Borussia Dortmund's 4-1 win in the first leg was enough to take them to Wembley.

The game was always going to be an uphill task for the Spanish side after their first leg defeat and they had looked to be on the way out as Borussia had looked in control after a powerful opening from Madrid.

However, it appeared Borussia lost concentration as the game went into the closing minutes and that allowed Karim Benzema to pull a goal back when the tie looked resolved to help set up a finish what was not suitable for persons of a nervous disposition.

As expected Real Madrid included Cristiano Ronaldo, who had been suffering from a hamstring injury, in their side, while Luka Modric was in central midfield instead of Sami Khedira and Michael Essien stepped in at right back.

Borussia were at full strength after right back Lukasz Piazczek recovered from a muscle problem.

There was a magnificent atmosphere in the Bernabeu and as expected the German side were forced to cede the ball to Real Madrid and the Spaniards could have opened the score after four minutes when Gonzalo Higuain's low shot was saved by Borussia goalkeeper, Roman Weidenfeller's outstretched foot, before Ronaldo fired over from the edge of the area five minutes later.

Real Madrid's Cristiano Ronaldo reacts during their Champions League semifinal second leg soccer match against Borussia Dortmund at Santiago Bernabeu stadium in Madrid, April 30, 2013. [Photo/Agencies]

Both sides could have scored in the 13th minute as first Robert Levandowski and then Ronaldo both saw shots saved after controlling long passes, meanwhile Borussia suffered a setback when Mario Gotze was forced off injured and replaced by Grosskreutz.

It was the most intense Real Madrid for a long time and Mesut Ozil should have scored when put through on goal, but the midfielder pulled his shot wide of the post.

Madrid will have feel they should have taken one of those chances and as the half progressed, Borussia gained more control of the midfield and Madrid's attacks began to rely more on long passes, which were comfortably dealt with by the visitors.

Ronaldo fired a free kick high into the crowd in injury time, but although they had not created much themselves, Borussia will have been pleased with the outcome of the first 45 minutes.