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Granados and Lagos scored within 18 minutes of each other after a goalless first half at Estadio Eladio Rosabal Cordero to complete a 3-1 aggregate victory for Herediano.
Herediano - contesting their first Champions League semi-final having failed to make it past the quarters in four previous attempts - will face Mexican heavyweights America for a spot in the final.
Hosts Herediano held the upper hand heading into Thursday's return leg after claiming a 1-1 draw in Honduras last week.
Granados put Herediano ahead on aggregate just a minute into the second half before Lagos, who netted the equaliser in the opening leg, tucked the ball underneath Olimpia's international goalkeeper Noel Valladares.
