Atletico Madrid struggled through a 3-0 Copa del Rey semifinal second leg defeat at Barcelona, but scraped into the final 4-3 on aggregate.

The Spanish champions almost produced a comeback for the ages on Tuesday after their 4-0 first-leg defeat in early February, but fell just short at Camp Nou.

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Eighteen-year-old Marc Bernal netted twice for the record 32-time winners, and Raphinha scored a penalty, as Barcelona tried in vain to claw back the lead for Diego Simeone’s side.

Atletico, who clung on desperately in the final stages, returned to the final for the first time since 2013.

They will face Real Sociedad or Athletic Bilbao, who meet on Wednesday in the second semifinal leg.

Barcelona came out flying, and Fermin Lopez’s long-range effort just over the bar set the tone, as Hansi Flick’s side threw everything they had at a potential comeback.

They were dealt an early setback when Jules Kounde went off injured in the opening stages. Antoine Griezmann came close against his former side, as Atletico threatened on the counterattack.

Ferran Torres fired wide and had a shot saved low at the near post by Atletico goalkeeper Juan Musso before Barcelona took the lead.

Teenage player Lamine Yamal drilled across the face of the goal for Bernal to finish from close range, with one 18-year-old setting up another.

Ademola Lookman headed narrowly off-target for Atletico and came to rue the miss as Barca doubled their advantage before the interval.

Spain midfielder Pedri was tripped in the box by Marc Pubill, and Raphinha sent Musso the wrong way from the spot.

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Joao Cancelo almost grabbed the third, but his shot was beaten away by Musso at full stretch, with Diego Simeone’s team on the ropes.

Bernal set up a frantic finale when he volleyed home Cancelo’s swirling cross to take Barca within one goal of the crumbling Rojiblancos.

Flick put centre-back Ronald Araujo up front for the final stages, in search of a fourth goal to “make the impossible possible”, as he called on his team to do before the game.

Gerard Martin hammered narrowly over the bar as Barca turned the screw, with fans roaring the team on through six minutes of stoppage time.

The Rojiblancos fended off Barca and booked their place in the Seville final on April 18.

Musso said getting through to the final was the most important thing.

“Barcelona are one of the best teams in the world, but we got through,” he said after the game.

“We are going to the final; we will give our everything, and get the Copa del Rey.”

Meanwhile, Raphinha said he was proud of his teammates, even if they just fell short.

“The fans could see we gave everything we had. You have to understand, we were up against a side who were defending [well] and doing what they needed to do… We did everything possible, but lacked a little bit,” he said.

“What happened today is in the past. We wanted to get in the final, but it happens … For now, we will go for the La Liga and Champions League [titles].”