Nathan Broadhead fired the only goal as Ipswich maintained their impressive Championship record with a 1-0 victory over Bristol City at Ashton Gate.
The high-flying visitors went in front after 16 minutes when Broadhead accepted a George Hirst pass inside the box and drilled a right-footed shot past Max O’Leary from 15 yards.
It proved enough to settle an open, entertaining contest, which did credit to both teams.
The Robins came close to an equaliser in the second half, but were unable to overcome impressive opponents who closed the gap to leaders Leicester to five points with the first of their two games in hand.
Both clubs made one change, with City bringing in Jason Knight for Haydon Roberts and Ipswich replacing the injured Wes Burns with Kayden Jackson for their first game since October 7.
The hosts made a fast start. Sam Bell had a third-minute shot saved by Vaclav Hladky and Tommy Conway should have done better with a 12th-minute header straight at the Ipswich goalkeeper.
But soon Kieran McKenna’s team, cheered on a strong contingent of more than 2,000 travelling fans, were showing why they had begun the campaign so well.
O’Leary saved well from Conor Chaplin and Massimo Luongo and Rob Dickie made a goal-saving block before Broadhead broke the deadlock.
City responded well to going behind. Taylor Gardner-Hickman had a 27th-minute shot tipped over by Hladky and Matty James saw a volley blocked in a crowded penalty area.
O’Leary had to make another good save after 40 minutes, stretching to palm away a Hirst shot.
Just before the interval, Ipswich skipper Sam Morsy hit a sweet 25-yard shot that smacked against a post.
Ipswich began the second half where they had left off, O’Leary making another diving save to deny Leif Davis and Chaplin firing over with the City keeper stranded outside his box.
There was a scare for the visitors in the 63rd minute when Knight was fouled fractionally outside the penalty area and Conway’s low free-kick was gathered by Hladky.
Dickie headed over from a free-kick as City fought hard for an equaliser. But Ipswich remained dangerous and substitute Omari Hutchinson sent a low 74th-minute shot narrowly wide.
City substitute Harry Cornick went even closer moments later, his left-footed shot striking a post and the ball rolling agonisingly along the goal-line before being cleared.
The home side piled on the pressure in the closing stages and centre-back Dickie twice went close with headers.
But Town defended with an intensity and commitment to match their slick approach play and held on to claim three hard-earned points.
Super-sub Joselu strikes again as comeback kings Madrid pounce
Joselu was the hero for Real Madrid as he scored twice off the bench to send them through to the Champions League final.
The Spaniard’s late brace secured Madrid’s comeback after Alphonso Davies had given the German side the lead, securing a 2-1 victory on the night, and a 4-3 win on aggregate to set up a meeting with Borussia Dortmund on June 1.
With only 10 minutes plus stoppage time to make an impact, Joselu made his time on the pitch count.
He scored with both his shots, becoming the oldest substitute to score a brace in a knockout game in the Champions League.
The forward is Madrid’s highest scorer in the competition this season with five goals, netting three of those after coming off the bench.
It is also the second time he has scored a double against a German team in the Champions League this campaign, getting his other against Union Berlin in the group stages.
Bayern were left to rue a late lapse in concentration that saw them concede twice in the space of two minutes and 44 seconds.
After Davies, who has been heavily linked with Los Blancos, became the first Canadian player to score in the knockout stages of the Champions League, with what was his maiden goal in the competition, it was a mistake that led to Madrid's equaliser.
It is the first time since April 2021 against Paris Saint-Germain that Manuel Neuer made an error leading to an opposition goal in the competition.
Bayern have now lost 11 Champions League matches against Madrid, the most one side has lost against another in the competition’s history.
It was always going to be a tough game for Thomas Tuchel’s side even after taking the lead – Madrid have won four matches despite conceding first in the Champions League this season, the most by a side in a single campaign since they won the trophy in 2016-17 (five).
Los Blancos have reached an 18th final in the European Cup/Champions League, but this is the first time they will play the showcase game at Wembley or in England altogether.
Meanwhile, Carlo Ancelotti has reached his sixth Champions League final, two more than any other coach in the history of the competition.
'You can never be settled' – Bellingham dreaming of more after Champions League comeback
Real Madrid can "never be settled" as they hunt down a record-extending 15th European title, so says Jude Bellingham.
LaLiga champions Madrid claimed their place in the Champions League final thanks to Joselu's late double against Bayern Munich on Wednesday.
Joselu came on from the bench to score twice in the space of three minutes to seal a 2-1 victory on the night and a 4-3 win on aggregate.
Alphonso Davies' stunner had put Bayern on the brink, but Madrid will now face Borussia Dortmund – Bellingham's former club – at Wembley on June 1.
"They talk about how they won the 14th, how they want the 15th. You can never be settled," Bellingham told TNT Sports.
"The players feel like family, the fans feel like family.
"When I was seven years old in Birmingham, I was dreaming of nights like this."
Madrid have won four matches despite conceding the first goal in the Champions League this season, the most by a side in a single campaign since Los Blancos themselves in 2016-17 (five), when they went on to lift the trophy.
"There have been a lot of times we have looked dead and buried, but we have that mentality of never say die," Bellingham added.
"There is a reason we turn around so many games, it's because of these lot [the fans]. They give you an energy you can't get from anything else."
Real Madrid 2-1 Bayern Munich (4-3 agg): Joselu late show seals Champions League final spot
Joselu scored twice late on as Real Madrid came from behind to beat Bayern Munich 2-1 and progress to the Champions League final.
Having drawn the first leg 2-2 in Munich, Bayern looked set to go through and tee up an all-German final at Wembley when Alphonso Davies sent a rocket into the top-right corner of Andriy Lunin's goal in the 68th minute of Wednesday's clash at the Santiago Bernabeu.
Yet 14-time European champions Madrid came back from the brink thanks to substitute Joselu, whose double sealed a 4-3 aggregate win.
The former Stoke City striker capitalised on a calamitous mistake from Manuel Neuer in the 88th minute before he shinned a second into the Bayern goal from Antonio Rudiger's cross.
That second goal was initially disallowed for offside, but it was awarded after a VAR check.
With Harry Kane having been taken off, Bayern struggled to mount a comeback, though Matthijs de Ligt did see a goal ruled out for offside, with the visitors left furious at that decision.
Thomas Tuchel's team, though, will ultimately end the season without silverware, while their Bundesliga rivals Borussia Dortmund will face LaLiga champions Madrid on June 1.
Data Debrief: Joselu to the rescue for comeback kings Madrid
Joselu became the oldest substitute player to score a brace in a knockout game in the Champions League at the Santiago Bernabeu.
Madrid have won four matches despite conceding the first goal in the Champions League this season, the most by a side in a single campaign since Madrid in 2016-17 (five) when they went on to lift the trophy.
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