Alarm bells rang after Ronaldo, Real's top scorer, apparently hurt himself in the warm-up before Saturday's La Liga game at home to Espanyol but Ancelotti said it was nothing to be concerned about and the Portugal captain had merely been rested as a precaution.
Benzema limped out of the match with just over 20 minutes remaining with what Ancelotti described as a twinge in his adductor muscle.
"Cristiano wasn't comfortable in the warm-up and we decided not to take any risks," the Italian told a news conference.
"We are not worried because we think he can play the (Champions League) final," he added.
"Benzema had a twinge in the adductor and he shouldn't have any problem in playing the final."
Ancelotti said centre back Pepe, who has been suffering with a calf problem, was recovering well and the club were confident he could play against Atletico.
(Reporting by Iain Rogers, editing by Justin Palmer)
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