The defender is desperate to win next week's Champions League final and is hopeful Cristiano Ronaldo will be match fit in time for the showpiece in Lisbon
The Santiago Bernabeu side have won nine European titles so far and have been chasing their 10th trophy ever since their latest win in 2002.
Madrid beat Bayern Munich in the semi-finals of the competition and Marcelo is determined to end their season on a high on May 24.
"We are focused on winning an important title, one we have been waiting to win for a long time," Marcelo told reporters.
"We have been trying for a number of years and now at last we are through to the final. We are one step away from making history for Real Madrid and we'll try our best to do it.
"We are going to give it our all on the pitch to win. The decisions about the starting line up belong to the manager and I'll be there to help the team and play my role."
The Brazil international then briefly discussed Cristiano Ronaldo's fitness and hopes the Portugal international will be fit for the final in Lisbon.
"Cristiano Ronaldo wasn't feeling well and ended up not playing against Espanyol.
"I haven't been able to talk to him yet but hopefully it's nothing serious."