BARCELONA, Spain (AP) — Antonio Rudiger stared down the goalkeeper, took a deep breath, and drilled home the decisive penalty, proving once again there is no tougher task in club soccer than beating Real Madrid in the Champions League.

Madrid’s victory over Manchester City after a penalty shootout on Wednesday sent it to a record 17th semifinal appearance and kept it on course to add to its unequaled haul of 14 European Cups.

It was fitting that Rudiger finished off City after he anchored a spirited defensive effort by Madrid that weathered wave after wave of attacks by Pep Guardiola’s side.

For Madrid coach Carlo Ancelotti, it was a question of survival.

“There was only one way to get out of here alive. We had to dig in and fight hard,” Ancelotti said. “We showed the attitude and commitment demanded by this jersey. This is a very special competition for us and we always deliver something that people are not expecting us to produce. Everyone was writing us off but we’re still here.”