Two goals from Didier Drogba and a Frank Lampard penalty completed a 4-3 victory over the two legs for Chelsea, with Fernando Torres and Ryan Babel on target for Liverpool on a dramatic night at Stamford Bridge.

Like the first leg at Anfield last week, it was 1-1 after 90 minutes, with Torres' second-half effort cancelling out Drogba's opener.

But Chelsea took control in the first half of extra-time.

Lampard, playing his first game since the death of his mother last week, coolly slotted home a 98th-minute penalty and Drogba, who had opened the scoring in the first-half, gave Chelsea a two-goal cushion with his second goal of the game minutes later.

Babel gave Liverpool a brief glimmer of hope less than four minutes from time by reducing the gap to just on goals.

But Chelsea hung on to clinch a place in the Champions League final for the first time in their history.

Drogba, a man whose penchant for spending more time horizontally on the pitch had incurred the wrath of Liverpool coach Rafael Benitez prior to kick-off, was clearly a man on a mission as he forced Jose Reina to turn his skidding 18-yard effort around the post in the fifth minute.

Four minutes later Liverpool put together their only meaningful move of the opening half when a quick Steven Gerrard pass put Torres in behind the Chelsea defence.

Unfortunately, the Spaniard's first touch was not deft enough and although he bore down on Petr Cech, the Chelsea goalkeeper had done enough to close down his space and options.

The slippery conditions hampered both sides but it was Chelsea who mastered them quicker.

In the 18th minute Lampard despatched a delightful pass into the path of Drogba, but the Ivory Coast international striker was a yard wide with his shot.

Low drive

But Chelsea were in the ascendancy and their supremacy was underlined by Michael Essien's 25-yard effort which had to be collected by Reina at the foot of his right-hand post.

Liverpool were struggling to keep pace with the home side and their worries increased when Martin Skrtel was forced off with a knee injury in the 21st minute and was replaced by Sami Hyypia.

Reina was forced to punch clear a long-range effort from Ballack but the goal Chelsea had threatened for most of the half arrived in style in the 33rd minute.

England midfielder Lampard cleverly split the Liverpool defence to give Salomon Kalou the chance to run on and fire a shot that Reina could only palm into the path of the onrushing Drogba who sent a low drive fizzing into the net at the near post to give Chelsea a 2-1 aggregate lead.

After Lampard's 53rd-minute volley was well held by Reina, Liverpool finally broke their goalscoring hoodoo when Yossi Benayoun carved out a chance for Torres.

The Spaniard collected the ball in his stride just inside the penalty area before sliding it beyond the exposed Cech to make it 2-2 on aggregate - the 64th-minute effort was Chelsea's first at Stamford Bridge in nine games under Benitez.

Both sides sought a winner - but the 90 minutes ended all-square and the contest went into extra-time.

Chelsea thought they had done enough when Essien sent a 20-yard effort into the net - but it was rightly disallowed for offside.

However, in the 98th minute, Michael Ballack was brought down by Hyypia inside the box and referee Roberto Rosetti pointed to the spot.

Lampard kept his composure to send Reina the wrong way and was in tears as he celebrated with his team-mates.

Worse was to come for Liverpool when substitute Nicolas Anelka got free on the right and pulled the ball back for Drogba to fire under Reina.

An error from Cech gifted Babel a late goal, but Chelsea held on to reach their first Champions League final.