The champions were dethroned by the kings. Manchester City’s reign lasted only a year. Real Madrid, the club Pep Guardiola has long described as the kings of Europe, expelled City from continental competition by doing what they always do. They found a way.

It required a wonderful rearguard action, a random assortment of penalty takers, a couple of saves from a goalkeeper, in Andriy Lunin, who would have been on the bench had Thibaut Courtois not suffered cruciate ligament damage or had Kepa Arrizabalaga displayed better form.

But Real, buffeted but not beaten, defiant but not defeated, found a way past Guardiola’s favourites. Now a semi-final against Bayern Munich beckons. Now a 15th European Cup could do, along with a fifth of Carlo Ancelotti’s extraordinary career.

Richard Jolly’s report from a dramatic night at the Eithad:

Man City had most of the ball, the territory and the chances in the second leg, but had to come from behind to force extra time and spot-kicks after Rodrygo’s early strike for the visitors. That meant plenty of off-the-ball running for La Liga’s finest, but they stuck to the task throughout and got their reward by edging the tie from 12 yards when they couldn’t be separated over 210 minutes.

And Bellingham, who scored his own spot-kick in the shootout, named Real’s endeavour and concentration as the biggest factors in ensuring they stayed in the game.

Pep Guardiola speaks to the media after City’s defeat: “Sometimes you can win on penalties and sometimes you cannot. But in the game we did not convert the chances that we had, even though we defended really. Everyone performed at a high level. We said we would have to be at our best to play Real Madrid and they were.”

“Football is about scoring goals and they did it a little better than us from the penalty spot. They are in the semi-finals, we are not. Small margins. It is what it is. Sometimes you win on penalties, sometimes not.”

Real Madrid have eliminated the reigning Champions League title-holders six times in knockout ties – at least twice as often as any other side in the competition’s history. Meanwhile, Carlo Ancelotti has now qualified for the semi-finals of the Champions League for the 10th time, the joint-most of any manager in the competition’s history (level with Pep Guardiola on 10).

Real Madrid boss Carlo Ancelotti also speaks to Movistar: “We started well, went ahead and then we had to fight to survive, we had to suffer. City had control because we defended too deep.

“By the time the penalty shootout came, we were totally convinced we’d go through. This is about the only way you can come to City and win. You work, sacrifice and win however you can. Pep Guardiola is a gentleman, always has been. He congratulated us, wished us good luck and that’s what a real gent does.

“We defended really, really well tonight. This was about survival. Madrid is a club based on always fighting to stay in situations where there seems to be no way out – but we always find a way.”

Madrid defender Nacho speaks to Spanish outlet Movistar: “We suffered a lot tonight because City really put you under the cosh. But we are Real Madrid. We always, always fight until the very end.

“We aren’t used to suffering like that. Normally it’s us putting teams under the cosh like that. But the only thing which mattered, all night, was making sure it was us in the semi-finals. We showed another side of ourselves; we showed we know how to defend deep and win.

“We put on a terrific display of how to defend and, both individually and collectively, this is such a happy feeling,” says Nacho. “I’ve got goosebumps talking about it. We didn’t start the shoot-out too well but we are a proud bunch. We showed our pride and made this a magical night.”

It was a night to forget for Premier League sides in the Champions League as Arsenal crashed out against Bayern Munich courtesy of Joshua Kimmich’s second-half header.

Read Miguel Delaney’s report from the Allianz Arena:

“I don’t know what to say. It’s frustrating – we dominated the whole game and had our chances but it’s difficult to take. The way we control the game, we always do everything we can to try and avoid going to penalties because, in a way, that is what they wanted.

“We had the chances – sometimes the ball goes in, sometimes it doesn’t but now we have to look forward to what’s still to come this season.”

On the FA Cup semi-final against Chelsea on Saturday: “We won’t have much time to rest, it’s a busy part of the season, but now is a moment to be strong, especially in the head, as we are still fighting for two very important competitions.”

“Our biggest strength is Carlo Ancelotti. He finds a way to let a lot of boys play with freedom. We’re so off the cuff. As a man, he fills you with calmness and confidence. I caught him yawning and he said to go out and excite him.

“Moments like this are magic and it just comes down to mentality: when you get those details right and you get those little moments, like the penalties, when the lads keep their cool. It’s magic. This was beautiful; my brother’s here today and it’s the first time he’s been able to see me playing for Madrid. I feel really proud about that.”

“It’s a relief because you put so much into the game. I’ve played against City when you’ve been close, you think you’re going to get something out of it and then suddenly they snatch it away from you. You have to work really hard to beat them. To win the game was a massive reward.

They’re continually probing with the ball, they move you around and take you into positions that you don’t want to go to but you have to otherwise they can punish you and they did with the goal. Most teams would fall apart but we stood up really well and kept working hard.”

On his start to life at Real Madrid: “I could have never dreamt of a start like this. Not just because of the performances but the feeling of playing for the club. You put the badge on your chest and you’re just so grateful. Hopefully plenty more nights like this.”