Liverpool beat Arsenal 4-2 in a classic Champions League battle at Anfield on Tuesday to clinch their quarter-final tie 5-3 on aggregate and reach the semi-finals for the third time in four seasons.

Their opponents at the end of the month will again be Chelsea who they defeated at the same stage in 2005 and last season.

In a match that will rank among the best played in Europe’s elite competition, Liverpool came back from the dead after Arsenal appeared to have clinched the tie on away goals with only six minutes to play.

But Liverpool’s indefatigible belief in themselves on European nights at Anfield saw them turn the tie with Steven Gerrard smashing home an 85th minute penalty and substitute Ryan Babel wrapping up a memorable win with a stoppage time goal.

Arsenal took the lead through Abou Diaby after 13 minutes but Liverpool fought back with a header from Sami Hyypia on the half hour and a stunning shot on the turn from Fernando Torres in the 69th to give Liverpool a 2-1 lead on the night and 3-2 on aggregate.

A breakaway by substitute Theo Walcott which saw him skate past four Liverpool players six minutes from time set up Emmanuel Adebayor to make the score 2-2—3-3 on aggregate and Arsenal ahead on away goals.

Liverpool got a lifeline a minute later when Arsenal defender Kolo Toure tripped Babel to concede a penalty and Gerrard, who had not had the best of games, scored to put Liverpool 3-2 ahead.

Babel sealed the win with his stoppage time goal to finally ease the tension at Anfield which was almost unbearable throughout an absorbing, enthralling encounter.