John Lundstram scored a late winner to send Rangers into the Europa League final, where they will face Eintracht Frankfurt.
Rangers headed into the second leg of their semi final with RB Leipzig a goal down, after the first leg in Germany last week, with the visitors favourites to go through, and for the tournament.
The Scottish side had a raucous Ibrox behind them though, and after Real Madrid's comeback in Europe the night before would have been full of hope of a historic turnaround of their own.
Captain James Tavernier got the hosts off to the perfect start with a goal after 18 minutes, to level things up in the tie, and with just 24 minutes gone they found themselves ahead.
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Glen Kamara curled a shot past Peter Gulacsi in the Leipzig goal, to set off incredible scenes, with the scorer paying tribute to kitman Jimmy Bell who tragically died earlier in the week.
Rangers then held on to their lead until the 70th minute, when Manchester United and PSG target Christopher Nkunku scored, as it looked like the game was headed for extra time.
That was until Lundstram scored the all important winner, to send Rangers to their first European final since 2008, when they lost the UEFA Cup to Zenit St Petersburg.
Rangers have done well in Europe in the past two seasons, reaching the round of 16 in the Europa League in back-to-back seasons.
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With Steven Gerrard leaving the club earlier in the season their excellent form in the continents second tier competition wasn't expected to be as good.
However Giovanni van Bronckhorst has really done wonders, with his team defeated Borussia Dortmund, Red Star Belgrade and Braga, before facing Leipzig.
They now head to Spain to face Frankfurt on May 18th, after the Germans defeated West Ham United in the other semi final, winning 1-0 on the night and 3-1 on aggregate.
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Rangers last European trophy came in 1972 when they won the UEFA Cup Winners Cup, defeating Dynamo Moscow. If their fans are looking for a good omen, they'll be happy to know that final also took place in Spain.
Ryan Sidle