With the tie poised at 2-2 after the first leg, Paul Pogba and Juan Cuadrado scored to put Juve in command.
Robert Lewandowski’s header gave Bayern hope but Juve looked to have seen them off until Thomas Muller’s 90th-minute goal forced the match into extra time.
The hosts – who had dominated possession to little effect in normal time – played with more urgency after Muller’s lifeline, with the introduction of substitutes Coman and Thiago playing a key part in the turnaround.
Watch all the goals and highlights below
https://youtu.be/7PMrfnAKOKg