Chelsea will play Manchester United in the Champions League final after two goals from Didier Drogba and a penalty from a grieving Frank Lampard gave them a 3-2 second leg, semi-final win over Liverpool on Wednesday.

The two English sides, meeting at this stage of Europe’s elite competition for the third time in four years, had drawn 1-1 at Anfield in last week’s first leg and needed extra time to separate them in an absorbing match at Stamford Bridge.

“It has not sunk in properly,” said Chelsea captain John Terry. “We will enjoy tonight but it will take 24 hours to sink in. I think everyone is looking forward to an all-English final. It will be a very tough game in three weeks’ time.”

On a night of constant rain and high drama, Drogba fired a low shot into the net from an acute angle in the 33rd minute to put Chelsea ahead but Liverpool’s Fernando Torres equalised in the 64th and the game went into the extra period.

Lampard, whose mother died last week, slotted home a 98th minute spot kick following a foul on Michael Ballack by Sami Hyypia and then wept on an emotional night for him and his team mates as they joined him by the corner flag.

Drogba made it 3-1 with a clinical finish in the 105th minute before substitute Ryan Babel, who replaced Torres, pulled a goal back for the visitors in the 117th but it was too late to stop last year’s finalists going out 4-3 on aggregate.