Real Madrid snatched an incredible semi-final victory as two late goals defeated Bayern Munich and set up a Champions League final with Borussia Dortmund.

Bayern looked to be heading to the final when Alphonso Davies cut in and blasted past Andriy Lunin after England captain Harry Kane had found him with a superb pass.

But Joselu grabbed an 88th-minute equaliser when he reacted quickest after Bayern goalkeeper Manuel Neuer, who had been excellent up until then, fumbled Vinicius Jr's effort.

There was even more drama to come two minutes later when Joselu, a former Stoke City striker, swept home from six yards after Antonio Rudiger's square pass.

The goal was initially ruled offside, only for a video assistant referee (VAR) decision to show that Joselu was onside, sparking incredible scenes of celebration in the Bernabeu, with Real hanging on to win 4-3 on aggregate.

Real, 14-time European champions, will face Dortmund on Saturday, 1 June at Wembley.

There was controversy in the 13th minute of injury time at the end of the second half as Bayern's Matthijs de Ligt thought he had taken the game to extra time.

A ball was played up to Noussair Mazraoui and the assistant referee's flag was raised for offside, with a number of Real defenders stopping before Bayern's De Ligt fired into the net.

Television replays suggested the original decision may not have been correct and that had the flag not been raised it would have needed to be checked by VAR, with Bayern boss Thomas Tuchel and a number of players including Kane and fellow Englishman Eric Dier strongly protesting against the decision.