Cristiano Ronaldo’s brace put Madrid in control before Robben levelled the tie from the spot after Bayern’s 2-1 first-leg win at the Allianz Arena last week.
With nothing to separate the sides after 210 minutes, the semi-final went to penalties with Bayern keeper Manuel Neuer saving from Ronaldo and Kaká, while Sergio Ramos missed Madrid’s fourth penalty to allow Bastian Schweinsteiger to score the winning spot-kick.
Robben, who spent three seasons at Stamford Bridge under Mourinho before moving to Madrid in 2007, is excited by the prospect of facing his former employers in the Munich showpiece on 19 May.
“I had such a great time at Chelsea and I’m really happy they reached the final,” Robben said.
“I saw their semi-final against Barcelona and they did well in a defensive capacity ‒ you could say they parked the bus in their own area.
“For us, though, to be in a home final is almost indescribable. It’s so great, especially for those who have been connected with this club for so long.”
Former Manchester United forward Ronaldo handed the home side a seventh-minute lead from the spot, and the Portuguese international scored his second shortly after to put Madrid ahead on aggregate with a close-range finish.
Robben netted a penalty in the 27th minute after Pepe was penalised for holding Mario Gómez – and the Dutch winger believes Bayern were worthy winners at the Bernabéu.
“I think we can be proud of ourselves after what we have achieved here,” said Robben.
“We were 2-0 down after just 14 minutes and we managed to recover; we deserve to be in the final.
“It was a great performance, we did well and you have to congratulate our team.”
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