Bayern Munich missed all four of their penalties as Borussia Dortmund reached the German Cup final after a shootout.

"That was a hell of a game," said Klopp. "Both teams gave everything and Bayern were certainly superior in the first half, but we more than deserved to equalise in the second. Today was our day."

Phillip Lahm slipped and missed Bayern's first penalty

Bayern midfielder Xabi Alonso also slipped at the crucial moment - straight after Lahm

Bayern goalkeeper Manuel Neuer missed his side's fourth penalty as Dortmund progressed

Klopp will now have a chance to win the German Cup for a second time with Dortmund in his last match in charge