All pictures by:Getty Images
At the Santiago Bernabeu, which hosted their first game, Real started slowly and Atlético launched several dangerous counter-attacks.
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Atlético captain Koke gave a brilliant through ball to Nahuel Molina.
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In the 19th minute full back Alvaro Morata, a former Real Academy player, tapped the ball into an empty net.
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Eder Militão squandered a golden chance to equalize in the 32nd minute when Toni Kroos delivered a precise cross.
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Real didn't start to play much better until Dani Ceballos came off the bench to replace the injured Ferland Mendy in the first half.
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The 26-year-old midfielder injected a new dynamic into a team that was far more attacking after the break.
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Substitute Rodrigo equalized with a goal in the 79th, dribbling past three defenders before finishing well.
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Vinicius sealed Real's victory in the dying seconds with a superb individual goal.
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Real Madrid joined Barcelona, Osasuna and Athletic Club in the semi-finals.
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