The Light Blues had never overcome a 2-0 defeat away from home in the first leg of a European tie but after huffing and puffing in the first half they went ahead with a James Tavernier penalty just before the break.
Striker Antonio Colak, who scored twice for Malmo at Ibrox a year ago to knock Rangers out of the Champions League qualifiers, headed in a second in the 58th minute to level the tie.
It is the first time Rangers have ever overcome a 2-0 first-leg deficit to progress in Europe. And they will now face PSV Eindhoven in the play-offs as they bid to return to the group stage for the first time since season 2010-11.
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Rangers FC, Union Saint-Gilloise, Champions League qualifying, UCL
