Arsenal reached their first Champions League final for 20 years as Bukayo Saka’s goal was enough to help the Gunners overcome Atletico Madrid 2-1 on aggregate.

Mikel Arteta’s side went out in the semi-finals to eventual winners Paris St-Germain last season, but Saka’s goal ensured there was no repeat of that exit at the same stage – and a Champions League and Premier League double remains a possibility.

With the scores level on aggregate at 1-1 after the first leg there was a tense start to Tuesday’s return at Emirates Stadium, with few clear-cut chances early on.

But Saka poked home the 44th-minute winner after Jan Oblak had parried Leandro Trossard’s shot, following good work in the build-up by Viktor Gyokeres.

Atletico did have some opportunities, with Declan Rice needing to make a last-ditch tackle to deny Giuliano Simeone in the first half, before Gabriel was on hand to prevent Simeone equalising after he had rounded David Raya after the break.

Gyokeres had a glorious chance to double Arsenal’s aggregate lead and ease any nerves, but the striker fired over from inside the box after getting on the end of substitute Piero Hincapie’s cross.

But that missed opportunity did not matter as the Gunners kept Atletico at bay to book their place in a first Champions League final since they lost to Barcelona in 2006.

Arsenal have reached the Champions League final for the first time since 2006

They will play either Bayern Munich or PSG in the showpiece on 30 May in Budapest for the chance to win the trophy for the first time.