The Blues left the Spanish capital with a potentially vital away goal from their 1-1 draw in the first-leg of this Champions League semifinal, with Christian Pulisic opening the scoring before Karim Benzema levelled the tie.
"We are happy for the result," explained Kante, who was named Man of the Match.
"Coming into this game, we knew we'd be playing against a great team and we wanted to leave with a good result so we would have the momentum ahead of the second leg at home.
"I think overall 1-1 is a fair result. We had many chances that we didn't score but we can be happy with the draw.
"We are looking forward to playing at home and hopefully qualifying for the final."
Kante added: "Yes, we could have scored more goals from the chances we created, but the main thing is we were creating the opportunities to score and that is a positive sign.
"For sure, reaching the final is a goal and it is possible for us now. We have to be fully focused on the second leg when it comes, because we are playing against a very strong opponent.
"We are confident in our abilities though and we must be confident that we can reach the final."