Two quick goals in the closing seconds of injury-time saw Borussia Dortmund emerge 3-2 winners on the night sealed their place in the final four of the Champions League.
With two-and-a-half minutes of stipulated injury-time left to go, Dortmund were trailing 1-2 to the Spanish side.
In the 92nd minute, Marco Reus scored the equaliser to pull it back to 2-2. It looked to have come a little too late for the home side as the draw still meant Malaga would go through on away goals.
But Dortmund threw just about everybody forward in search of the winner. A Robert Lewandowski cross from the left caused panic and defender Felipe Santana managed to bundle the ball home after his initial shot was saved by the 'keeper and the rebound fell to him.
Santana’s goal led to chaotic scenes as the Borussia players celebrated with the fans, while those of Malaga sunk to the floor.
Dortmund made a cautious start to the match, preferring not to go all out in search of goals.
Jakub Blaszczykowski was back in the starting line-up for the German side starting out wide on the right. Barring a few forays from Dortmund, it was a comfortable opening 20 minutes for Malaga who continued to be resolute in defence, picking up from where they left off last week.
Against the run of play, the visitors then took the lead on 25 minutes when Joaquin scored with a left-footed shot from just outside the box after a mazy run, exchanging a one-two with Isco.
The goal brought Dortmund into action and there was more conviction in their play as the likes of Mario Gotze and Lewandowski became increasingly involved in the game.
After a spell of sustained pressure, on 40 minutes Lewandowski brought the game back to parity when he finished a superb team goal. Blaszczykowski picked up the ball on the right and laid it in for Gotze who took two touches before releasing to Reus who found Lewandowski with a sublime back heel flick.
The Polish striker did the rest as he rounded Willy Caballero in goal to put the ball in the back of the net.
Just on the stroke of half-time, Malaga earned a free-kick 30 yards out and Duda’s in-swinging delivery found a completely unmarked Joaquin who had a free header, but the Spanish winger’s effort lacked power and was directed straight at Weidenfeller.
The teams went in at half-time on level pegging, though Malaga were in the driver’s seat having scored the away goal and Juergen Klopp berating his players for the lapse defending.
The second half got off to a racy start with chances for both teams to score. More excellent football from Borussia’s attacking quartet put Lewandowski through on goal, his finish though was a little close to the keeper and Caballero gathered safely. At the other end, Joaquin, who had an outstanding game for the visitors, had another opportunity when he got his head to an Isco cross from close range.
A fantastic save from Weidenfeller prevented Malaga from restoring their lead.
After an open first 15 minutes, the game became scrappy as Dortmund’s frustrations came to the surface. Unable to find any rhythm in their passing, they started to give the ball away cheaply and concede unnecessary fouls.
Martin Demichelis and Sergio Sanchez were excellent in central defence for Manuel Pellegrini’s side as they continued to frustrate the boys in yellow.
Nuri Sahin and Julian Scheiber were brought on by Dortmund as they chased the winner. Frustration soon gave way to agony as it was Malaga who scored their second through Eliseu who had come on for the captain Duda; Isco once more featuring in the build-up, and his ball to Julio Baptista caught the Dortmund defence out before the Brazilian laid it on for Eliseu who scored with a sliding finish.
There was a touch of offside about the goal and Klopp was now rabid on the touchlines as his side were staring at the exit door with eight minutes plus stoppage time left.
Klopp threw on Mats Hummels in a last ditch effort as Dortmund shipped bodies forward, throwing everything but the kitchen sink at Malaga.
The Spanish team’s fans were rejoicing when the board to signal four minutes of stoppage time came up, confident in the fact that their team were on the brink of progress.
But, it was to be heartbreak for them as Dortmund refused to throw in the towel and staged a sensational comeback to steal the game, booking themselves a semi-final place in the process.
"I just can't really believe this," said Dortmund defender Never Subotic to reporters. "This is the craziest moment in my entire football career. Up until now it has been a Hollywood movie; hopefully it will have a Hollywood ending." Klopp, speaking after the game, added: "I cannot explain what has happened to me after that, I think I need to see a doctor. It feels like we have won the trophy."
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