Real Madrid coach Carlo Ancelotti, known as Don Carlo, was beaming with pride after his team dug deep for long periods on Wednesday to keep Manchester City at bay and squeeze past them on penalties into the semi-finals of the Champions League.

"I love it when a team gives their all and sacrifices everything in big games like this one," he said after a pulsating two-legged quarter-final that ended 4-4 on aggregate before the Spanish side triumphed 4-3 in a penalty shootout.

It was sweet revenge for Real Madrid, who were thrashed 4-0 at Etihad Stadium in their exit from the Champions League at the semi-final stage last year.

"I believe there was no other way to beat Manchester City here. I'm proud of what we did," added Ancelotti, who paced nervously up and down the touchline during the shootout until defender Antonio Ruediger scored the winning kick.

"By the time the penalty shootout came, we were totally convinced we'd go through. You work, sacrifice and win however you can.

"We defended really well. This was about survival," the 64-year-old Italian said.