Real Madrid coach Carlo Ancelotti was relieved that his side could edge past Dortmund, claiming they “suffered” en route to the semi-final stage.

Los Blancos advance to the tournament semifinals for the fourth consecutive year on a 3-2 aggregate in what turned out to be a far more difficult objective than they could have imagined. Marco Reus scored two first half goals, but in the end it was not enough as solid goalkeeping from Iker Casillas helped prevent a third goal and possible extra time.

And Carlo Ancelotti admits Real Madrid were lucky to make the Champions League semi-finals after a 2-0 defeat to Borussia Dortmund. With a 3-0 first-leg advantage, the Blancos looked firm favourites heading into Tuesday’s game but Angel Di Maria’s saved penalty and a first half brace from Marco Reus set Madrid nerves jangling.

“All games at this stage are very difficult,” Ancelotti said after the game. “We are fortunate to be through to the semi-finals.

“We’re happy to reach the semis, but not happy as we suffered a lot. Especially in the first half. We opened the tie up again.

“We were better in the second half. Football is like that, we gave away gifts, made lots of errors, we had no confidence and we suffered because of it.

“Casillas made fantastic saves in important moments of the game. His game was very, very good.”

With Cristiano Ronaldo out injured, head coach Carlo Ancelotti elected to slot Ángel di María up top with Gareth Bale and Karim Benzema. Asier Illarramendi helped fill out the midfield with Luka Modric and Xabi Alonso while a back four of Dani Carvajal, Pepe, Sergio Ramos and Fabio Coentrão were tasked with shielding Casillas.

BVB Coach Jurgen Klopp: We Were Superior than Madrid

Meanwhile, Jurgen Klopp hailed his Borussia Dortmund as “incredible” after their ultimately futile 2-0 win over Real Madridin the Champions League, claiming that his side was “the better team”.

BVB were favourites to go out of the Champions League but Klopp’s side put up a brilliant fight to register 2-0 win over Madrid which won the hearts of fans across the globe. And although his side exited the competition, Klopp was proud of his players for the fight they had shown.

“Neven Subotic said to me after the game, ‘I couldn’t be prouder of this team’,” Klopp said in a press conference.

“That’s what the Champions League is about. We were superior tonight, but should have scored last week.

“Tonight’s game was so good that there is absolutely no-one to blame for not qualifying.

“The atmosphere was awesome. We wanted to prove a point and we did that with our incredible performance.”