The Blues trailed 2-1 after the away leg but Kirby’s breakaway strike put them in control on away goals.
Sarah Zadrazil’s stunning shot made it 1-1 but Ji So-yun restored the lead.
With extra time looming Harder headed in and, as Bayern pressed, Kirby scored into an empty net to seal the victory.
Kirby ran half the length of the pitch to ensure Chelsea’s progress in a dramatic finish to an astonishing game at Kingsmeadow.
The goal sparked wild scenes of celebration among players and staff, with a tearful manager Emma Hayes overwhelmed by leading Chelsea through to the final against Barcelona in Gothenburg on Sunday, 16 May. BBC.