Atletico Madrid have set up a Champions League final against city rivals Real Madrid after coming from behind to win 3-1 at Chelsea in their semi-final second leg.

After a 0-0 draw in the first leg, former Atletico striker Fernando Torres put Chelsea ahead in the 36th minute at Stamford Bridge on Wednesday, but the London club were to lead the tie for only eight minutes.

Adrian Lopez scrambled home an equaliser shortly before half-time and second-half goals by Diego Costa, from the penalty spot, and Arda Turan sealed Atletico’s place in their first European Cup final since 1974.

Diego Simeone’s team are also two wins from claiming a first La Liga title in 18 years, meaning that they could be looking to complete an improbable double when they meet their old foes Real in Lisbon on May 24.

Chelsea manager Jose Mourinho, meanwhile, was denied a reunion with his former employers Real, with whom he had also experienced semi-final disappointment in each of the previous three seasons.