The teams drew 4-4 in Barcelona in the first match last month, when Atletico was losing 4-2 until the 84th. Madrid and Real Sociedad are in the other semifinal, with Madrid having won 1-0 away in the first leg.

Real Madrid overcame a missed Vinicius Junior penalty in regulation to advance to the quarterfinal round, where they will play Arsenal.

Rudiger’s kick squirmed through the grasp of Atletico goalkeeper Jan Oblak to win the shoot-out. Julian Alvarez had earlier seen his effort ruled out for a double touch, while Lucas Vazquez’s effort was saved for Real, before Marcos Llorente’s strike crashed off the underside of the bar. That left Rudiger to become Real’s penalty hero.