The German giants won 1-0 on the night and 3-2 on aggregate thanks to a Joshua Kimmich header.
(It was) an unbelievable win. It's been a tough season for us," Kane told TNT Sports.
We've had to fight and grind it out at times. We knew we could make the difference with our fans at home.
It was a tough game, a tight game. It was a great goal from Josh (Kimmich). To reach the semi-finals is a great achievement for us and we can enjoy it.
I think in these types of games the first half is always a bit cagey. We said at half-time we wanted to up the tempo, be aggressive. We had a couple off the post and could have made it easier for ourselves but these games are always tough and you just have to get through them.
The expectation here is to try and win the Champions League.
We won the league for 11 years in a row so maybe there was a bit of tempo missing (as we didn't win it this year). That can't happen. Now we have to enjoy the Champions League and try to get ready for Saturday."