Alvaro Morata scored the decisive goal against his former club to send Juventus into their first Champions League final since 2003 at the expense of Real Madrid this evening.
The Italian champions went into the match with a 2-1 aggregate lead and held on for a 1-1 draw on the night to send the holders crashing out and set up a showdown with Barcelona in Berlin on June 6.
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The hosts made a quick start to the match and could have been two goals to the good inside six minutes after Gareth Bale and Karim Benzema had both put decent openings over the top of the crossbar.
Cristiano Ronaldo came closer moments later, but his dipping free kick from 30 yards was also narrowly too high as it rippled the top of the net on its way behind for a corner.
Juventus had their moments in the opening exchanges, but their first real chance didn't come until the 14th minute, when Iker Casillas got down well to push Arturo Vidal's low shot away from danger.
Madrid were soon back on the front foot, however, and a flurry of chances followed in quick succession for Carlo Ancelotti's side. Isco sent an inventive chip off target from the edge of the box before Benzema was released down the left channel by Marcelo, only to pull the ball back behind Ronaldo with the goal gaping.
Bale was the next to threaten for the Spanish giants, forcing a flying stop from Gianluigi Buffon with a dipping and swerving strike from distance.
The breakthrough finally came midway through the first half when Giorgio Chiellini bundled into James Rodriguez inside the box, leaving referee Jonas Eriksson little choice but to point to the penalty spot. Up stepped Ronaldo to fire straight down the middle, becoming the first player to score 10 or more goals in four separate Champions League seasons in the process.
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It was also a record 10th semi-final goal in the competition for the Portuguese striker and moved him level with both Alfredo di Stefano in the all-time Real Madrid goalscoring charts on 307 and Lionel Messi as the Champions League's highest goalscorer on 77.
The hosts were not done there, and Ronaldo had a chance to move clear of his perennial rival with a quick counter-attack that ended with his cross being cut out. Two corners followed, but both Sergio Ramos and Benzema were denied from the subsequent deliveries.
Madrid continued to apply the pressure in the closing stages of the half, with Ronaldo lashing one strike into the side-netting before Benzema drew a smart low stop from Buffon at his near post.
Ancelotti's side began the second half brightly too, but it was Juve who came closest in the opening stages after the break when Claudio Marchisio drilled a powerful low strike a couple of yards wide from outside the box.
That proved to be a warning shot that Madrid did not heed, and Juventus clinched a crucial away goal when Morata once again scored against his former club. Paul Pogba nodded the ball down to the Spaniard, and Casillas could only palm the resulting effort into the net as the visitors regained their aggregate lead.
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The holders went in search of a quick reply and almost got it when Bale latched on to a Marcelo cross, but the Welsh winger could only fire wide under pressure from the Juventus defence.
Ancelotti looked to Javier Hernandez in an attempt to turn things around, but it was James who came close next when his powerful drive swerved narrowly over the top with Buffon rooted to the spot.
Buffon's opposite number Casillas has been criticised by the Madrid fans in recent weeks, but the skipper kept his side in the tie with a little over 20 minutes to go courtesy of a fine save to deny Marchisio in a one-on-one situation.
At the other end of the field, another under-fire Madrid player was heavily involved, but Bale sent one powerful effort narrowly off target before missing a golden chance by heading over from close range with the goal gaping.
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The Welsh winger sent another header over the top from a corner shortly afterwards as the hosts' time began to run out, but the world's most expensive footballer refused to let up in search of the game's crucial third goal.
He tried another effort from range with just over five minutes of the match remaining, but again he couldn't find the target as his strike whistled past Buffon's near post.
Juve had a chance to put the tie to bed late on when Pogba received the ball inside the area, but his effort was straight at Casillas.
Madrid piled the pressure on in the closing stages but could not find a way through as their quest to become the first side to successfully defend the Champions League came to an end at the Bernabeu.
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