Joachim Low's men found the net five times in the opening 30 minutes as they eventually cruised to a humiliating 7-1 win over the hosts to secure a final clash with Argentina.
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"Before the semi-final, I had warned that the loss of Neymar and Thiago Silva would be hard to compensate for, even if the Brazilian team closed ranks,"Beckenbauer told Hindustan Times.
"I was certain that the Brazilians would have problems because in their five matches before Germany they had never been convincing.
"Brazil played fearfully. Their self-confidence seemed to have vanished and it looked like they had huge respect for the opponents.
"It appears that this side of brilliant individuals was overburdened by being cast as the favourites. You could see fear in the Brazilian players’ faces during the national anthem.
"They were singing with such fervour as if to buck up their courage. They put themselves under too much pressure, something visible in the way Julio Cesar and David Luiz held up Neymar’s jersey during the national anthem."
Germany will meet Argentina in the final on Sunday as they are gunning for their first world title since 1990.