Goals:Drogba 33', 105', Lampard (pen) 97' - Torres 64', Babel 116'

Frank Lampard converted the penalty kick that put Chelsea ahead to stay, then ran to a corner flag and kneeled. The 29-year-old midfielder took off his black armband, looked to the sky and kissed it.

Returning to the team following the death of his mother, he helped put the Blues in the European Champions League final for the first time.

Lampard scored eight minutes into overtime to help Chelsea defeat Liverpool 3-2 Wednesday night and win the home-and-home semifinal on 4-3 aggregate. The Blues meet Manchester United at Moscow on May 21 in the first all-English final in the competition’s 52-year history.

“He’s a brave man. He was very close to his mother, and what has happened in the last days to him wasn’t easy,” manager Avram Grant said. “It was his decision, but he played well, and it has been a little bit tough on him.”

Didier Drogba had two goals for Chelsea, which extended its home unbeaten streak to 82 games, and Lampard, whose mother died of pneumonia at age 58 last Thursday, missed last weekend’s Premier League win over Manchester United.

He converted the penalty kick for a 2-1 lead after Michael Ballack was fouled in the penalty area by Sami Hyypia. After embraces from his teammates, Lampard ran back to the center circle and pointed to his father in the crowd. Frank Lampard Sr. was also a professional soccer player.

Chelsea captain John Terry praised Lampard’s decision “to come in on Sunday and train and try and block out what has been a terrible week for him and his family and everyone close to Frank.”

“I’m sure Frank will dedicate the goal to his mum tonight,” Terry said.

Lampard did not speak with reporters after the match.

Drogba made it 3-1 in the 105th minute, but Ryan Babel scored for Liverpool in the 117th on a long shot that glanced off the hands of goalkeeper Petr Cech.

“I thought we were very close. We played well in the second half, but the third goal killed it,” Liverpool manager Rafa Benitez said. “We had two chances in extra time, and we were in control and we were preventing them from creating.”

Drogba had put Chelsea ahead 1-0 in the 33rd minute, beating Pepe Reina after the goalkeeper dived to parry Solomon Kalou’s shot. In a match played in a downpour, Fernando Torres tied the score in the 64th after Yossi Benayoun cut across the field and fed Torres, ending a streak of 840 consecutive scoreless minutes for Liverpool at Stamford Bridge.

Chelsea and Manchester United also are tied atop the English Premier League at 81 points with two matches remaining, but Manchester United is ahead on goal difference, the first tiebreaker. Manchester United and Chelsea won their home games against each other in the Premier League this season and tied 1-1 at Wembley in the Community Shield.

Lampard’s penalty came three minutes after Chelsea’s Michael Essien put the ball in the net. The goal was disallowed, apparently for offside, after the stadium scoreboard had given the goal to Chelsea and UEFA had changed the score on its Web site.

No London club has ever won the Champions League. Manchester United, which beat Barcelona 1-0 Tuesday to reach the final, won the competition in 1968 and 1999.

Grant took over as Chelsea’s manager early in the season when Jose Mourinho was fired. Grant said he was proud to “create history in the first year as a manager, with all the difficulties we had.”

“We stayed together and did things in the positive way with a lot of thinking,” Grant said. “Not just (that) we came to the final, but the way we did it.”

Chelsea: Cech, Essien, Carvalho, Terry, A Cole; Ballack, Makelele, Lampard; J Cole (Anelka 90'), Drogba, Kalou (Malouda 69').

Liverpool: Reina; Arbeloa, Carragher, Skrtel (Hyypia 21'), Riise; Mascherano, Alonso; Kuyt, Gerrard, Benayoun (Pennant 77'); Torres (Babel 97').