Julio Cesar committed a howler in the first leg to give Bayern than 1-0 win and fumbled again in Germany, but Inter fought back with a last-gasp Goran Pandev strike for the 3-2 result.
Inter midfielder Cambiasso said: “Julio Cesar was disappointed at half-time, as he thought that he had ruined the whole game, but that just fired us up to go out there and win.
“We believed right to the end and we did it. I’m happy for Pandev, as it’s a great personal satisfaction for him and everyone in the team.
“Now we go forward in the Champions League, we have a good squad and are waiting for Diego Milito to recover. With this heart, Inter can achieve amazing things.”