Borussia Dortmund edged past Bundesliga champions Bayern Munich 2-0 on penalties to advance to the German Cup final on Tuesday night.
Pep Guardiola's men missed all four of their spot-kicks with both Xabi Alonso and Phillip Lahm slipping at the crucial moment, and Mario Gotze and Manuel Neuer missing their respective targets.
Although Bayern produced a dominating first-half as Robert Lewandowski had put the home side ahead in the 29 minute, Pierre-Emerick Aubameyang leveled for Dortmund after the break to force a penalty shoot-out.
Subsequently, Sebastian Kehl and Ilkay Gundogan's penalty strikes were enough for Dortmund to book their trip to Berlin on 30 May.
Dortmund will face the winner of Wednesday's second semifinal between Arminia Bielefeld and Wolfsburg in the final clash for the title.