The holders, who have lifted the trophy a record 32 times, were left with too much to do after suffering a 4-0 first-leg defeat last month. Hansi Flick's side started aggressively, pressing high and creating early chances in a bid to overturn the deficit.

Lamine Yamal provided the assist for Marc Bernal's opener in the 29th minute, and the midfielder struck twice on the night, his third goal making it four in four matches. Raphinha, who had earlier hit the side netting, converted from the penalty spot after Pedri was fouled by Clement Lenglet.

Joao Cancelo assisted Bernal's second, while Ferran Torres had two attempts on goal. Alejandro Balde replaced the injured Jules Kounde and tested Juan Musso.

Atletico remained dangerous on the counter. Antoine Griezmann struck the post from an offside position, Julian Alvarez forced a save from Joan Garcia, and Ademola Lookman missed a chance. Marcus Rashford appeared as a substitute, while Gerard Martin fired narrowly over late on.

"We had reached two semi-finals and were close to reaching a final, it wasn't to be because our opponents were better, but in this two-legged tie we were better than Barcelona because we took advantage of the game where we were better and they play very well," Diego Simeone said after the game.

"It hurts that we couldn't control that set piece that hurt us so much (the first goal) and led us into a game against a team that plays very well and makes it more difficult if they threaten you from set pieces.

"Our fans needed a game like this and the lads are making an incredible effort to get where our fans want us to be, so now we have to get there in good shape, work hard and look forward to the final."

Simeone's side will meet the winner of Real Sociedad versus Athletic Club in the final.

"Obviously I am sad because we did not achieve our objective of reaching the final in Seville but we can be very proud," said Flick.

"We had chances to score four or five goals and we have to focus on that for the games and challenges coming up.

"We have given everything and that's what I want to see. We gave more than 100% and that's fantastic. Today everybody played with heart and it was a great performance from us but it was just not to be and we have to accept that."

Real Madrid touch down in Miami with high hopes for FIFA Club World Cup glory