Real Madrid have survived a strong second leg from Borussia Dortmund to secure a place in the semi-finals of the Champions League, beating the German side 3-2 on aggregate.

The Spanish club had a chance to add to their first-leg advantage early after being awarded a penalty following a handball, but Roman Weidenfeller managed to save Angel di Maria's spot kick.

The keeper's stop seemed to boost the hosts as Marco Reus tried to set up a chance for Henrikh Mkhitayran, while Mats Hummls headed his free kick over.

The midfielder was able to find the target himself though when Pepe tried to head the ball back for Iker Casillas in the Real goal, but Reus got to it first before rounding the visiting keeper to slot into an open net.

The 24-year-old claimed his second shortly before the break, smashing in from a rebound after Robert Lewandowski struck the post.

Gareth Bale had a chance to restore Real's cushion early in the second half, but Weidenfeller punched his strike away.

The La Liga side continued to dominate possession, and had another chance to regain control of the tie when Karim Benzema was set up for Luka Modric, but Hummels made the clearance.

Dortmund almost made the visitors pay for the miss a few moments later when Reus continued to frustrate the Real defence, sliding the ball forward for Mkhitayran, but his shot was kept out by the post.

The Bundesliga side continued to apply to pressure as they tried to complete their comeback, but Casillas was able to deny Mkitaryan and Kevin Grosskreutz in the space of two minutes to keep Real ahead on aggregate and secure a place in Friday's semi-final draw.