Bayern Munich's Thomas Muller and David Alaba look dejected after their game against Real Madrid during the UEFA Champions League Quarter Final Second Leg in Madrid, Spain on April 18, 2017. [Photo/Agencies]

Bayern, the 2013 Champions League winner, had made it at least to the semifinals for the last five seasons.

"We played a lot of difficult matches this season, but this one was the most difficult one," Zidane said. "In the end, over the two legs, we deserved to go through."The opening 45 minutes were balanced between the two sides, but Bayern was dominant after halftime as it pressed forward, trying to overturn the first-leg deficit.

"The team was courageous," Bayern defender Philipp Lahm said. "It hurts to go out in extra time, but we were a man down for over an hour across the tie. I think the team deserved to go through."Bayern also played with 10 men in the second half of the game in Germany.

Lewandowski, who had missed the first leg because of a right shoulder injury, calmly scored from the spot with a right-foot shot, sending Keylor Navas the wrong way.