Bayern Munich vs. Atlético Madrid VIDEO Highlights: Live Score Updates For 2nd Leg Of 2016 Champions League Semifinal

Recap: Atletico Madrid will play in their second Champions League semifinal in three years, after hanging on to clinch victory over Bayern Munich on away goals. Bayern won an enthralling second leg 2-1 at the Allianz Arena to tie up the series 2-2 on aggregate, but Antoine Griezmann’s goal early in the second half was enough to take Atletico to the final in Milan.

In that final Atletico will face either Manchester City or, in a rematch of the 2014 final, their city rivals Real Madrid. Two years ago, Real Madrid broke Atletico’s hearts with an equalizer two minutes from the end of regulation time before going onto cruise to victory in extra time. And there was similar drama at the end on Tuesday.

Having played superbly for much of the encounter, Bayern threw everything at Atletico in search of the goal they needed. In a sign of the tension at the Allianz Arena, Atletico coach Diego Simeone struck one of club's officials on the sideline.

But his side will be in the final, having this time held on at the last, in large part thanks to a faultless display in goal from 23-year-old Jan Oblak.

For a long time, though, it appeared likely to be Bayern heading through. After a 1-0 loss in the first leg, the Bundesliga leaders came out on Tuesday playing with real intensity and purpose and keeping Atletico firmly on the back foot, just trying to survive.

A fully deserved lead on the night arrived on 31 minutes when Xabi Alonso’s free-kick struck Jose Maria Gimenez and deflected past Oblak. But the crucial moment in the whole tie arrived just five minutes later. Gimenez foolishly tugged down Javi Martinez at a corner and Thomas Muller stepped up with the chance to put Bayern 2-1 up on aggregate. His penalty, though, was saved by Oblak.

Had it gone in, it would have been hard to see Bayern being stopped. Instead, eight minutes into the second half, Bayern, pushing men forward, were caught cold on the break to concede the away goal Atletico had been desperate for but to that point had not come close to getting. Torres and Griezmann combined to send the French striker just onside past a pushed up Bayern defense and finish coolly past Manuel Neuer.

Bayern’s momentum had been checked by a halftime switch from Simeone that saw Yannick Ferreira Carrasco come on for Augusto Fernandez, and the goal shook the hosts further. But Guardiola’s side came back at Atletico in the final 20 minutes. And when Robert Lewandowski headed in from close range with 16 minutes remaining, memories of Bayern’s dramatic fight back against Juventus in the Round of 16 came flooding back.

Yet, even though Manuel Neuer saved a penalty from Fernando Torres, awarded despite Javi Martinez's foul on Torres appearing to be outside the box, there was, though, to be no repeat this this time around. Guardiola will leave Bayern after three Champions League semifinal exits, while Atletico, a day after Leicester City’s Premier League triumph, can celebrate another underdog triumph.

Match highlights:

Bayern Munich 2 - 1 Atletico Madrid Extended... by ViralDailyTV

FULLTIME! Bayern Munich 2-1 Atletico Madrid (2-2 on Agg., Atletico progress on away goals)
An enthralling contest from start to finish. It had everything: three goals, two saved penalties, Diego Simeone striking an official and in the end Atletico Madrid progressing to the Champions League final on away goals. Pep Guardiola will leave Bayern Munich with three semifinal exits, while Atletico await either Real Madrid or Manchester City in their second final in three years.

92 mins: Ribery's corner is dangerous, but Coman can't contorl first time at the back post and his cross is blocked. Meanwhile, Simeone has just hit the fourth official on the arm! It's all happening.

90 mins: Five minutes of injury time for Bayern Munich to get the goal they need and for Atletico Madrid to hold on.

89 mins: Oblak is getting treated, and it's hard not to think that this is a clear and deliberate ploy to run down the clock.

88 mins: Alaba's shot from a half-cleared corner takes a deflection on its way through and Oblak has to get down smartly to his left to palm it away.

87 mins: Crucial intervention by Gabi. Muller's flick on from Coman's cross looked set to be converted by Lewandowski at the back post, but Gabi just got a foot in. This is enthralling stuff in Munich.

84 mins: But Atletico can't convert the penalty! It was almost an exact repeat of the Muller penalty in the first half. Again it was at a comfortable height to the keeper's right and this time Neuer pulls off the save. Bayern are still alive.

83 mins: Penalty to Atletico! Javi Martinez brings down Torres, but the contact was outside the box. That's going to be a huge controversy is this penalty is converted.

82 mins: It's all hands to the pump now for Atletico, as Simeone brings off their goalscorer Griezmann for defensive midfielder Thomas Partey.

81 mins: Bayern are applying frentic pressure now. Atletico are starting to look jaded, but ca they hang on for the final 10 minutes?

79 mins: This is the same approach to Bayern utilized to such success to come back against Juventus, delivering balls into the box at every opportunity and looking for Muller and Lewandowski.

77 mins: So close for Bayern. A Coman cross came in for the right, Muller got a touch on, but it went just behind Lewandowski this time. Simeone is anxiously pacing the sideline.

Lewandowski's goal:

GOAL! Bayern Munich 2-1 Atletico Madrid (Lewandowski, 74)
Game very much back on! Vidal gets up superbly to an Alaba cross at the back post to send the ball back across the six-yard box where Lewandowski had the simple task of heading in. It's now level at 2-2 on aggregate and Atletico now just ahead on away goals. One more needed for Bayern.

73 mins: Bayern make their first change. Douglas Costa comes off for Kingsley Coman in a like-for-like switch, although Coman will offer a natural right-footed outlet down the right flank.

70 mins: Chance for Bayern, Vidal flicks a good pass through for Lewandowski, who strikes on the volley, but it's into the ground and Oblak is able to save at his near post.

68 mins: Alonso hits a first-time shot on his left foot from 25 yards, but Oblak does well to hold on down on the ground.

66 mins: This is an unenviable situation at the moment for Bayern, but they can take encouragement from the fact that they scored two goals in the final 17 minutes against Juventus in the Round of 16 to force extra time and ultimately progress.

63 mins: An opening for Bayern. Muller looks to header down a cross into the path of Lewandowski, but Godin reacts well to make a crucial interception and turn the ball behind.

62 mins: Some Bayern fans behind the goal appealed for a penalty after Lahm went down after a challenge from Filipe Luis, but there was never enough int hat to warrant a second penalty of the match.

60 mins: That goal has really shaken Bayern Munich. They've failed to regain their momentum and Juanfran has just whistled a shot wide of the post.

58 mins: Taking another look at the goal, it all comes from one misplaced pass from Jerome Boateng, which allowed Atletico to get a two-on-two just inside the Bayern half, with one simple pass forward from Koke. Griezmann and Torres combined perfectly and it appears that Griezmann was just level with the last defender. A fine call at high speed from the official

Here's a video of that goal:

GOAL! Bayern Munich 1-1 Atletico Madrid (Griezmann, 54)
Out of nowhere, Atletico get the one change they've been looking for to grab a vital away goal. Torres played Griezmann through behind the pushed up Bayern defense, There was a strong suspicion of offside, but the Atletico striker was allowed to run through and show exceptional calmness to beat Neuer. Bayern, dominant for the first 54 minutes, now need to score twice.

51 mins: An early ball forward from the back for Bayern caught Atletico out and appeared to set Lewndowski away, but the striker failed to take the ball into his path.

49 mins: Bayern have picked up where they left off, on the front foot, and Javi Martinez has just headed a corner over the crossbar.

48 mins: Just a couple of statistics that illustrate Bayern’s dominance in the first half. The hosts completed 279 passes to Atletico’s 55 and had 17 shots at goal to the visitors’ two. If those stats are repeated in the second half, it will surely be Bayern heading to Milan for the Champions League final at the end of this month.

46 mins: As expected, Koke goes into the middle alongside Gabi, with Carrasco on the left.

Second Half Kickoff! Atletico Madrid get the match back underay, and do so with a change to their lineup. The young Belgian winger Yannick Ferreira Carrasco is on for the sitting midfielder Augusto Fernandez.

HALFTIME: Bayern Munich 1-0 Atletico Madrid (1-1 on Aggregate)
Bayern Munich have been superb in that first half. Playing with purpose and intensity, they have pushed their full-backs forward and got their wingers cutting inside to keep Atletico hanging on for much of the period. Alonso's deflected free-kick pulled Bayern level on aggregate, and two minutes later they should have been ahead. Gimenez, the man who deflected in Alonso's shot, stupidly tugged down Javi Martinez in the box, giving Muller the chance from the spot. Oblak, though, came up with the save to keep the sides all square. There's no doubt which team is in the ascendency, however.

Muller's saved penalty:

42 mins: Bayern are not happy after Lewandowski looked certain to have been brought down on the byline, only to be told to get up by the referee. Atletico have, though, managed to calm things down since the penalty. They'll see getting through to halftime with the score the same as something of a mini triumph.

37 mins: Guardiola and Simeone are now coming together on the sidelines after a confrontation between Juanfran and Lewandowski left the Bayern man on the floor. Replays also show Ribery and Simeone going at it. This is threatening to spill over even at this relatively early stage.

While there's a moment to catch a breath, here's a look at Alonso's goal to make this semifinal level:

35 mins: Oblak saves Muller's penalty! Muller hit it firmly but put it at a comfortable height for the goalkeeper, who dived to his left nad parried it to safety. It's all happening at the Allianz Arena. Can that save helped turn the tide and halt some of Bayern's seemingly unstoppable momentum?

33 mins: Penalty to Bayern Munich!
Gimenez wraps his hands around Martinez and brings him down at a corner. Foolish penalty to give away.

GOAL! Bayern Munich 1-0 Atletico Madrid (Alonso, 31, Agg. 1-1)
From a free-kick in an ideal position 20 yards out, just to the left of center, Xabi Alonso strikes it low and hard and gets the benefit of a big deflection off of Jose Maria Gimenez to take it past Jan Oblak. Bayern have finally broke through Atletico's rearguard and they now look well on top.

27 mins: Another sight of goal for Bayern. Philipp Lahm's cross flicks off a head in the middle and falls for Lahm at the back post, but from a difficult angle his shot flies over. Bayern are spreading the play much better than last week.

24 mins: It's getting a little uncomfortable now for Atletico. Ribery hit a vicious, swerving strike from more than 30 yards out that Oblak couldn't hold. giving Lewandowski a sniff at the rebound. As Oblak threw himself at his feet, Lewandowski couldn't get the effort on target. Even Atletico surely can't survive under this much pressure for another 65 minutes.

20 mins: The first big chance for Bayern Munich in this whole tie. Jerome Boateng found Muller over the top of the Atletico defense. The Bayern forward elected to square the ball for Lewandowski, but it was just slightly ahead of the Poland international, who was taken wide and had his blocked by the legs of Oblak. That should encourage Bayern, though.

18 mins: Vidal is shooting on sight so far, quite likely as a tactic to try and get Atletico's defenders to feel they have to come out and defend against long shots. This time he gets his effort on target, but Jan Oblak saves.

16 mins: In an illustration of the problem facing Bayern, Atletico just had six players in their own box, and two surrounding it during that last home side attack. It ended with Muller, surrounded by defenders, failing to make clean contact with a volley.

14 mins: Vidal tries his luck from distance as Bayern try to find a way of countering Atletico's packed defense, but the Chilean's effort goes safely over the bar. At the other end, Gabi manages to get an effort from similar distance on target, but Neuer does well to hang on diving to his right.

12 mins: Lewandowski was looking to get on the end of an in-swinging cross from Dougals Costa, but Juanfran did very well to stop the Bayern striker from making proper contact at the back post.

11 mins: Bayern have very much started this second leg on the front foot, as you would expect. It's all been a little scrappy so far, however.

8 mins: In terms of formation, it's pretty much a 4-2-3-1 for Bayern with Muller supporting Lewandowski through the middle and Vidal a little deeper alongside Xabi Alonso, though with license to get forward.

6 mins: Surprisingly electing against putting a set-piece into the box, Koke lays a free-kick back to Gabi. The Atletico captain tries a hugely ambitious effort from close to 40 yards out and Manuel Neuer takes it comfortably.

4 mins: Not only do Bayern Munich have to get through Atletico's formidable defense but they also have to overcome Champions League history. In 29 previous matchups, the side that secured a 1-0 home first-leg victory have progressed on 20 occasions.

1 min: It took less than one minute for Atletico to snap into their first challenge and give away a free-kick. Gabi brings down Franck Ribery in the center of the pitch, provoking an angry reaction from the returning French winger.

Kickoff! Bayern Munich get the second leg of this Champions League semifinal underway.

1:55 p.m. EDT: The team lineups are in. Bayern make three changes to their side from the first leg, with Thomas Müller, Franck Ribery and Jerome Boateng returning to the XI in place of Juan Bernat, Thiago and Kingsley Coman. Atlético make just the one alteration, with fit again Diego Godin returning in place of Stefan Savic.

Preview: Bayern Munich will have to break down the toughest defense in Europe if they are to avoid Pep Guardiola’s time in Bavaria ending with a third successive Champions League semifinal exit. Guardiola, who will join Manchester City this summer, took over at the Allianz Arena in the wake of the club’s treble triumph. But, while he looks set to guide the club a third straight Bundesliga title, the penultimate hurdle in the Champions League has so far proved an insurmountable one.

It was Spanish opposition, in Real Madrid and Barcelona, that halted Bayern at this stage for the last two seasons, as Guardiola’s men failed to overturn a first-leg deficit back in Munich. And it is a similar scenario facing them this time around. A goal from Saúl Ñíguez saw Bayern lose 1-0 to Atlético Madrid at the Vicente Calderon a week ago.

It means that Bayern now need to score at least once against a team that have conceded just five goals in their 11 Champions League matches so far this season. And Atlético’s resolute backline will be bolstered on Tuesday by the return from injury of Uruguay international Diego Godín, after he was forced to sit out the first leg.

Bayern have also been given an injury boost. As well as Franck Ribery overcoming a back problem, center-back Jerome Boating made his return to the first team for the first time in three months in Saturday’s 1-1 draw with Borussia Monchengladbach.

That result meant Bayern failed to wrap up the Bundesliga title, although they still have a five-point lead with two games to play. Atlético, meanwhile, beat Rayo Vallecano 1-0 at the weekend to keep pace with Barcelona at the top of La Liga, although they still remain off the top due to the teams’ head-to-head record.

Check back here from 2:45 p.m. EDT for live score updates and video highlights from the Champions League semifinal second leg.