Borussia Dortmund through to German Cup final after Bayern Munich miss ALL four penalties

Jurgen Klopp's final game in charge of Dortmund will be the final

Borussia Dortmund reached the final of the DFB-Pokal Cup by beating great rivals Bayern Munich after a dramatic penalty shoot-out that saw Pep Guardiola's team miss all four of their penalties.

The victory means that popular manager Jurgen Klopp will take charge of his final game for the club with the chance to win a fourth trophy of his hugely popular seven-year reign, whilst also ending Bayern's chance to win the treble.

Guardiola was furious during the shoot-out as Philipp Lahm and then Xabi Alonso slipped during their run-ups to miss, before Mario Gotze's penalty was saved and goalkeeper Manuel Neuer sent his spot-kick against the crossbar - Dortmund only needed to score two of their three penalties to go through.

"That was the game from hell," Klopp said after exuberant celebrations. "We were lucky, no question about it."

"Both teams gave it everything. Bayern were far superior in the first half.

"Going in at half-time only 1-0 down is the best you can hope for when you play the way we did in the first half, but we more than deserved the equaliser in the second half.

Dortmund will face either Wolfsburg or third-tier Arminia Bielefeld, who clash in the other semi-final on Wednesday night.

"It was meant to be today," Klopp said. "We're overjoyed about going through against these unbelievably strong opponents."

Robert Lewandowski had put Bayern in front and they appeared to be cruising until Pierre-Emerick Aubameyang levelled in the 75th minute.

Arjen Robben came and went with an injury ending his brief involvement in the game, while Dortmund ended the game with 10 men after Kevin Kampl was sent off in extra-time.

A worrying sight was to follow for Bayern when Robben limped off the field again, just 15 minutes after coming on, and in the end it was they more than Dortmund who were relieved to hear the full-time whistle.

Tiredness was evident on both sides in the extra 30 minutes and, apart from two Bastian Schweinsteiger headers, neither came close to deciding matters within 120 minutes, while Dortmund lost Kampl early in the second period to a second yellow card.

Lahm and Alonso both slipped as they sent their penalties off target and Mario Gotze saw his penalty saved by Langerak before Neuer sent Bayern's fourth penalty against the crossbar, and Dortmund went through with Ilkay Gundogan and Sebastian Kehl on target.

Additional reporting from PA