Watch: Unlikely hero Joselu leads Real Madrid to epic comeback

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Off the bench and into the history books.

Joselu etched his name in Real Madrid lore Wednesday, scoring two late goals to send the eternal European kings back to the Champions League final in dramatic fashion. With Madrid trailing Bayern Munich in the final moments of their semifinal second leg, the substitute scored in the 88th and 91st minutes to turn a 3-2 aggregate deficit into an incredible 4-3 triumph.

He pounced on an untimely Manuel Neuer error for his first tally and then completed the stunning turnaround with a close-range finish that was initially called offside. The goal was awarded after a VAR check, and the Santiago Bernabeu erupted.

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"Not even my sweetest dreams are as big as what happened today," the journeyman striker said after the match. "I don't know about hero, but I am very happy ... it was incredible, something spectacular.

"This team never gives up, it's in their blood to fight until the end and that's what we did."

Joselu, formerly of Stoke City and Newcastle United, is on loan at Real Madrid from second-tier Spanish side Espanyol.

"The first goal is about being smart, they were tired, in a low block, and you could see that," he said.

Of his winning tally, the 34-year-old said: "I was praying and asking whoever was out there for them not to rule it out."

Madrid will now take on Borussia Dortmund in the final at Wembley Stadium on June 1. They'll be looking to win the European Cup for a record-extending 15th time.