Real Madrid advanced to the UEFA Champions League semi-finals after eliminating defending champions Chelsea on Tuesday night.
Ferland Mendy, Nacho, Toni Kroos and Luka Modric came back into the Los Blancos starting line-up after starting on the bench against Getafe over the weekend.
The Blues, meanwhile, were without Romelu Lukaku due to injury, but Reece James returned to the side while Timo Werner joined Kai Havertz and Mason Mount in the attack.
Thomas Tuchel's men got off to the perfect start when Mason Mount opened the scoring on 15 minutes with a firm finish beyond Thibuat Courtois.
While the Blues were unable to find an equaliser on the night, the Blues doubled their lead six minutes after the break when Antonio Rudiger nodded home Mount's corner.
After Marcos Alonso had a goal ruled out by the Video Assistant Referee (VAR) for handball, the home fans were silence in the 75th minute when Werner showed great composure to beat two players before firing home.
However, Los Blancos got back into the tie five minutes later when Modric's superb pass with the outside of his foot found Rodrygo, who found the bottom corner and sent the game to extra-time.
The hosts then took the lead in the seventh minute of extra-time when Vinicius Junior did well to pick out Karim Benzema, who nodded into the bottom corner and sent his side to the final four.
Bayern Munich have been dumped out of the UEFA Champions League following a 1-1 draw in the second leg at the Allianz Arena.
Unai Emery went with the same starting line-up that got the job done in the first leg.
For the Bundesliga giants, Leroy Sane and Leon Goretzka were given starts as Alphonso Davies and Serge Gnabry dropped to the bench.
The Spanish outfit did well to frustrate Julian Nagelsmann's side in the opening 45 minutes, but they could only hold out until the 52nd minute.
Robert Lewandowski got the breakthrough for the German giants with a close-range finish at the far post after some good work by Thomas Muller.
However, the Yellow Submarine did not take that lying down and managed to break the hearts of Bayern fans after Samuel Chukwueze found the all-important equaliser and put his side 2-1 ahead on aggregate.
