Having trailed in the tie by one goal after defeat at the City Ground last week, Forest completed the turnaround to draw 2-2 on aggregate before Midtjylland missed all three of its spot-kicks. 

Forest dominated from the first whistle at MCH Arena as Ryan Yates thundered a left-footed effort against the crossbar after being picked out by James McAtee's superb ball into the box before Philip Billing cleared Morata's shot off the line. 

Lorenzo Lucca then fired a glorious opportunity over after being found by Nikola Milenkovic's knockdown, but Forest eventually made their dominance count in the 40th minute through Dominguez, who looped a brilliant header into the net. 

Pereira's men turned the tie on its head seven minutes after the restart when Yates shifted the ball onto his weaker left foot before sending a sensational strike into the right corner and beyond the grasp of Olafsson. 

But for all its dominance, Martin Erlic's 69th-minute finish pegged Forest back, with the Midtjylland defender crashing a half-volley into the top-left corner from close range.

Both sides pushed for a winning goal as Ola Aina blazed over the net late on, with extra-time also failing to split the two sides, though Yates thought he had won it in the 118th minute, only to see his pinpoint header ruled out for offside. 

However, penalties would decide who would face Porto or Stuttgart, and Forest got off to the ideal start when Morgan Gibbs-White and Ibrahim Sangare found the back of the net, whilst Cho Gue-Sung and Aral Simsir both struck the woodwork. 

Neco Williams then confidently dispatched from 12 yards, and with all the pressure on him, Edward Chilufya slipped at the vital moment as his shot went over the crossbar and sent Forest through.