Liverpool set up a Champions League semi-final with Spain’s Villarreal after Roberto Firmino scored twice in a 3-3 second-leg draw with Benfica to ensure a 6-4 aggregate win.

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[{"selector":"#anim-9bce24ba-5d7b-4a41-a127-f412fb21d930 [data-leaf-element=\"true\"]","keyframes":{"transform":["translate(0%, 0%) scale(1.5)","translate(0%, 0%) scale(1)"]},"delay":0,"duration":3500,"easing":"cubic-bezier(.3,0,.55,1)","fill":"forwards"}] [{"selector":"#anim-ee1ff646-242c-4025-85c9-32d857a61eb0","keyframes":{"opacity":[0,1]},"delay":0,"duration":4000,"easing":"cubic-bezier(0.2, 0.6, 0.0, 1)","fill":"both"}] [{"selector":"#anim-f14c3150-ed02-4d2d-8b71-e663842ec597","keyframes":{"transform":["translate3d(-115.14196%, 0px, 0)","translate3d(0px, 0px, 0)"]},"delay":0,"duration":4000,"easing":"cubic-bezier(0.2, 0.6, 0.0, 1)","fill":"both"}] Juergen Klopp’s side had been 3-1 up on the night before Benfica struck twice late in the game on Wednesday to create a jittery finale to what had appeared to be a comfortable passage.

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Benfica forward Darwin Nunez had seen an effort ruled out for offside before Liverpool took the lead with a powerful header from a corner by defender Ibrahima Konate in the 21st minute.

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Brazilian Firmino scored twice after the break as Liverpool looked to make sure of a place in the semi-finals for the third time in five seasons.

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But Benfica stuck to the task well and pulled two goals back in the latter stages to return a degree of tension to Anfield.

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Manchester City played out a nerve-racking goalless draw at Atletico Madrid that earned the English side a place in the Champions League semi-finals.

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[{"selector":"#anim-016aa037-13e2-4d5f-b192-9229f9c9c388 [data-leaf-element=\"true\"]","keyframes":{"transform":["translate(6.336734640952418%, 0%) scale(1.5)","translate(0%, 0%) scale(1)"]},"delay":0,"duration":3500,"easing":"cubic-bezier(.3,0,.55,1)","fill":"forwards"}] [{"selector":"#anim-2115e78b-dd40-49fe-bce0-91c8a1abf4a8","keyframes":{"opacity":[0,1]},"delay":0,"duration":4000,"easing":"cubic-bezier(.3,0,.55,1)","fill":"both"}] [{"selector":"#anim-c25a8494-95cf-485c-ad04-5ded5cdc7a32","keyframes":{"transform":["scale(0.3333333333333333)","scale(1)"]},"delay":0,"duration":4000,"easing":"cubic-bezier(.3,0,.55,1)","fill":"forwards"}] The lead on the night lasted just 11 minutes though before Benfica pulled level through Goncalo Ramos, who beat Alisson Becker after a tackle from James Milner had fallen to him