The German side took an early lead just four minutes in when Benjamin Sesko headed home. However, Antoine Griezmann pulled Atletico level in the 28th minute, netting his 37th Champions League goal with a well-executed volley from 12 yards out.
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Griezmann came close to adding a second, but RB Leipzig goalkeeper Peter Gulacsi produced a superb save to deny him.
Griezmann was instrumental in the winning goal as well, delivering a pinpoint cross for José María Giménez, who directed a powerful header into the net in the final moments of the match.
Gallagher, who joined Atletico Madrid in August for around £33 million, came on in the 63rd minute with the score tied at 1-1.
The England international is the second English player to represent Atletico in the Champions League, following in the footsteps of Kieran Trippier.
RB Leipzig will face Juventus at home on 2 October, while Atletico Madrid travels to Benfica on the same date.
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