Real Madrid's Federico Valverde conceded he is "bitter" about not taking a penalty in Los Blancos' shootout win over Manchester City in the Champions League.

Fourteen-time European champions Madrid progressed to the last four of the competition by overcoming holders City on penalties at the end of a thrilling tie in the quarters.

Luka Modric missed Madrid's first spot-kick, but Andriy Lunin made saves from Bernardo Silva and Mateo Kovacic to help Carlo Ancelotti's team get over the line and into a semi-final meeting with Bayern Munich.

Valverde, who scored a stunning volley in the 3-3 draw in the first leg at the Santiago Bernabeu, did not take a penalty, and ahead of Tuesday's clash with Bayern, the Uruguayan admitted his regret at not doing so.

"That night I went to bed with the regret of having been able to leave that mark on Real Madrid, of going to the semi-finals with a goal of mine, especially because I am good at penalties," he told reporters.

"But if another team-mate did it, that's fine. But I had a bitter taste, yes.

"Sometimes you have to put aside your ego and pride, recognise that you are very tired and tell the coaching staff that you are not prepared to take a penalty.

"I hope in the future I feel stronger and it doesn't happen again."

Madrid are unbeaten in their last 10 games in the Champions League (W7 D3), all of which have been this season. Only once previously have they had a longer unbeaten run within a single campaign in the competition, going 11 without defeat in the 2016-17 edition (which they would go on to win).

Asked how Madrid's squad are feeling ahead of Tuesday's fixture, Valverde added: "I can talk to you personally: very excited.

"It will be my first time against Bayern in the Champions League and I am happy, looking forward to it.

"Appreciating every moment I spend defending this shield and playing this competition with this shirt."

This is the eighth time Bayern and Madrid have been drawn together in a semi-final in the European Cup/Champions League.

After progressing from four of the first five between 1976 and 2012, Bayern have been eliminated in each of the last two (2013-14 and 2017-18).