Nizaar Kinsella
BBC Sport Chelsea reporter at Stamford Bridge

Chelsea boss Sonia Bompastor was shown two yellow cards and then a red for remonstrating with the officials - and the incident underlined the highly-charged ending to the match.

There was bedlam after Nusken’s goal, with Arsenal also losing their composure, but they managed to hold on to win the tie over two legs.

Steph Houghton
Former England captain on BBC Two

For Arsenal you see a real maturity in this team. They are the current holders of the Champions League and they know what it takes to win at this level, and that was the case tonight.

Whatever Chelsea threw at them they were able to cope, especially van Domselaar. In those moments where you need your keeper to pull out some worldie saves she really did that.

So there we have it.

Holders Arsenal join German giants Bayern in the last four.

Now it's over to Barcelona, Real Madrid, Lyon and Wolfsburg tomorrow night to see who takes the last two spots.

The top three in the WSL qualify for the Champions League and Chelsea are second, two points ahead of fourth-placed Manchester United with both sides having three games left.

Arsenal in third are on the same points as United but have two games in hand.

Rachel Corsie
Former Scotland captain on BBC Radio 5 Live

Image source, Getty Images

In some ways last year came as a bit of surprise for many but European football works well for Arsenal.

Chelsea have dominated the ball in these two games but Arsenal have found a way to be effective in the match, it is a massive step forward and another string to their bow.

That defensive resilience has not always been their strong suit.

Ellen White
Former England striker on BBC Two

It was a brilliant, professional, diligent Arsenal performance. The work rate and togetherness, the game plan came together so well.

A lot of the work was done in the first leg, then tonight they just had to soak up all the pressure from Chelsea.

Robyn Cowen
BBC Two commentator at Stamford Bridge

Arsenal another step closer to defending their Champions League title.

Chelsea crestfallen, broken, another lost opportunity to get the trophy they so crave.

Reigning holders Arsenal are through to the semi-finals of the Women's Champions League.

It was a frantic last 10 minutes, with Chelsea hitting the post twice, Arsenal hitting the post once, Sjoeke Nusken scoring for the hosts, with home boss Sonia Bompastor then sent off.

But, after all that, the Gunners hold on. They go through, Chelsea are out.

Image source, Reuters

Sonia Bompastor, having been shown one yellow card, continues her protests and gets another one. The Chelsea boss is sent off.

Image source, Getty Images

Fran Kirby
Brighton forward on BBC Two

It's a surprise that they've not looked back at that on VAR. I don't think McCabe means to grab Thompson's hair, I think she goes to grab her shirt. But she is very lucky there.

Five minutes were scheduled of injury time, we are in the sixth. Katie McCabe pulls the hair of Alyssa Thompson, but gets away with it.

Sonia Bompastor is furious that McCabe has not been sent off, with the Chelsea boss getting a yellow card.

Fran Kirby
Brighton forward on BBC Two

It's a fantastic finish from Nusken. Gets across the defender and it's a fantastic finish to wrap her foot around it. I worry it is a little too late for Chelsea now.

Chelsea are pushing players forwards and almost get caught out. Alessia Russo sends Caitlin Foord through, but she looks for a pass instead of a shot and Chelsea make the challenge.

Fran Kirby
Brighton forward on BBC Two

Maanum takes too long to pass the ball. By the time Mead gets it she has to take a touch. She has to play it quicker.

A thrilling end to this match, with the woodwork hit for the third time.

After two efforts off the frame of the goal for Chelsea, now it's Arsenal's turn at the other end.

Two substitutes link up as Frida Maanum plays in Beth Mead, she cuts inside and curls it left footed and Hannah Hampton is beaten, only for the ball to bounce off the foot of the left upright.

Fran Kirby
Brighton forward on BBC Two

What a save. Incredible. Chelsea coming to life a little bit now but Van Domselaar keeping the scoreline the way it is.