The Germans led 1-0 from the first leg - but even though Porto lost defender Jorge Fucile to a red card in the 82nd minute for a late tackle on Levan Kobiashvili, Lisandro Lopez scored a superb goal to take the match into extra time.
In the spot-kicks Bruno Alves and Lopez missed Porto´s second and third efforts - and Jermaine Jones put the Bundesliga side through with their fourth successful kick.
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