The Spanish side earned a 1-0 win at the Santiago Bernabeu last week thanks to Karim Benzema's first-half strike, which puts them in the driving seat ahead of the second leg.
Carlo Ancelotti's side were happy to sit back and hit Bayern on the break and the former Germany skipper believes they will do the same again.
"They will play in the same manner as the first leg," he told AS.
"Ancelotti is a coach who has studied Bayern and know their tricks. Clearly Madrid would play on the front foot in a home game against Mallorca, with all due respect.
"But they won't do that against Bayern, a team who move very well. They also suffer on the break, which Carlo showed in the first leg.
"Bayern failed to score at the Bernabeu and now have to come from behind. They need at least two goals but they must be careful.
"The 1-0 from the first leg is dangerous, but Bayern can overcome it if they play at the same level they did five weeeks ago."
Matthaus went on to say that Pep Guardiola should set up his side in a more cautious manner if Madrid try to hit them on the counter.
"He should try and control breaks. They cannot always control the speed of Gareth Bale or Cristiano Ronaldo and the Bayern defence has suffered quite a lot in recent games.
"So it'll be even more critical that they close down space."