Liverpool eliminated English rival Chelsea on penalty kicks Tuesday to advance to its sixth Champions League final and second in three years. 

Liverpool will face either AC Milan or Manchester United at this year's final in Athens on May 23.

Liverpool's Jose Reina stops Arjen Robben's penalty kick on Tuesday.
(Dave Thompson/Associated Press)

Two years ago, the Mighty Reds ousted the Blues in the semifinals and erased a three-goal deficit to beat AC Milan on penalty kicks for its fifth European championship.

"Two finals in three years," Liverpool captain Steven Gerrard said. "Not bad for a little club."

Daniel Agger scored in the 23rd minute as Liverpool won 1-0 at Anfield in Tuesday's second leg to level the semifinal after a 1-0 loss at Stamford Bridge last week.

Neither club scored in 30 minutes of overtime, as Dirk Kuyt's goal in the 10th minute was whistled offside.

That prompted penalty kicks to settle the issue.

Liverpool prevailed 4-1 on successful spot kicks from Boudewijn Zenden, Xabi Alonso, Gerrard and Kuyt.

"It was very special for me," Kuyt said. "It is going to be my first final."

"We had confidence because we had players who practice in every training session," Liverpool manager Rafa Benitez said. "They like to do it."

Frank Lampard converted for Chelsea, but Mighty Reds goalkeeper Jose Reina foiled Arjen Robben and Geremi.

"Everybody has to try to be strong," Chelsea manager Jose Mourinho said. "I think they have a lot of reasons to be proud of themselves.

"They were the best team today. Football is like that, and the penalty shootout is part of the game."
  
Agger's goal in regulation came off a free kick from Gerrard, who squared the ball to him inside the penalty area.

Agger tucked a 12-footer just inside the goalpost.

With files from the Associated Press