Barcelona goalkeeper Marc-Andre ter Stegen saved a second-half penalty as the Spanish giants began their Champions League campaign by drawing 0-0 at Borussia Dortmund on Tuesday.

Lionel Messi came on as a substitute for the last 30 minutes for his first appearance of the season but was unable to spark the visitors' struggling attack, with Dortmund creating the best chances of the game.

Ter Stegen saved a penalty from Dortmund captain Marco Reus in the 57th and denied the home side with a string of saves on his return to his native Germany.

Dortmund substitute Julian Brandt struck the crossbar and Paco Alcacer also went close against his former side. It was the first game in which the Spanish striker failed to score this season.

The 16-year-old Ansu Fati made his Champions League debut to become Barcelona's youngest player in a Uefa competition, before coming off for Messi in the 59th. Messi hadn't played since injuring his leg in pre-season.

Player ratings: Dortmund vs Barcelona Show all 23 1 /23 Player ratings: Dortmund vs Barcelona Player ratings: Dortmund vs Barcelona Dortmund vs Barcelona: Player ratings epa07849381 Dortmund's Marco Reus (L) in action against Barcelona's Clement Lenglet (R) during the UEFA Champions League group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, 17 September 2019. EPA/SASCHA STEINBACH SASCHA STEINBACH EPA Player ratings: Dortmund vs Barcelona Bürki - 7 DORTMUND, GERMANY - SEPTEMBER 17: Roman Burki of Borussia Dortmund warms up prior to the UEFA Champions League group F match between Borussia Dortmund and FC Barcelona at Signal Iduna Park on September 17, 2019 in Dortmund, Germany. (Photo by Christian Kaspar-Bartke/Bongarts/Getty Images) Christian Kaspar-Bartke Bongarts/Getty Images Player ratings: Dortmund vs Barcelona Hakimi - 7 Dortmund's Achraf Hakimi goes for the ball during the Champions League Group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, Tuesday Sept. 17, 2019. (AP Photo/Martin Meissner) Martin Meissner AP Player ratings: Dortmund vs Barcelona Akanji - 7 Dortmund's Manuel Akanji, left, fights for the ball with Barcelona's Luis Suarez during the Champions League Group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, Tuesday Sept. 17, 2019. (AP Photo/Martin Meissner) Martin Meissner AP Player ratings: Dortmund vs Barcelona Hummels - 8 Barcelona's French forward Antoine Griezmann has a chance put off ny Dortmund's German defender Mats Hummels (L) during the UEFA Champions League Group F football match Borussia Dortmund v FC Barcelona in Dortmund, western Germany, on September 17, 2019. (Photo by John MACDOUGALL / AFP)JOHN MACDOUGALL/AFP/Getty Images JOHN MACDOUGALL AFP/Getty Images Player ratings: Dortmund vs Barcelona Guerreiro - 6 Barcelona's Antoine Griezmann, right, controls the ball in front Dortmund's Raphael Guerreiro during the Champions League Group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, Tuesday Sept. 17, 2019. (AP Photo/Martin Meissner) Martin Meissner AP Player ratings: Dortmund vs Barcelona Witsel - 7 Dortmund's Belgian midfielder Axel Witsel (C) and Barcelona's Uruguayan forward Luis Suarez (L) vie for the ball during the UEFA Champions League Group F football match Borussia Dortmund v FC Barcelona in Dortmund, western Germany, on September 17, 2019. (Photo by John MACDOUGALL / AFP)JOHN MACDOUGALL/AFP/Getty Images JOHN MACDOUGALL AFP/Getty Images Player ratings: Dortmund vs Barcelona Delaney - 6 DORTMUND, GERMANY - SEPTEMBER 17: Arthur of FC Barcelona and Thomas Delaney of Borussia Dortmund battle for the ballduring the UEFA Champions League group F match between Borussia Dortmund and FC Barcelona at Signal Iduna Park on September 17, 2019 in Dortmund, Germany. (Photo by Martin Rose/Bongarts/Getty Images) Martin Rose Bongarts/Getty Images Player ratings: Dortmund vs Barcelona Hazard - 6 epa07849328 Dortmund's Thorgan Hazard reacts during the UEFA Champions League group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, 17 September 2019. EPA/SASCHA STEINBACH SASCHA STEINBACH EPA Player ratings: Dortmund vs Barcelona Reus - 7 DORTMUND, GERMANY - SEPTEMBER 17: (L-R) Frenkie de Jong of FC Barcelona, Marco Reus of Borussia Dortmund during the UEFA Champions League match between Borussia Dortmund v FC Barcelona at the Signal Iduna Park on September 17, 2019 in Dortmund Germany (Photo by Laurens Lindhout/Soccrates/Getty Images) Soccrates Images Getty Images Player ratings: Dortmund vs Barcelona Sancho - 7 epa07849382 Dortmund's Jadon Sancho in action during the UEFA Champions League group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, 17 September 2019. EPA/SASCHA STEINBACH SASCHA STEINBACH EPA Player ratings: Dortmund vs Barcelona Alcacer - 6 DORTMUND, GERMANY - SEPTEMBER 17: (L-R) Paco Alcacer of Borussia Dortmund, Gerard Pique of FC Barcelona during the UEFA Champions League match between Borussia Dortmund v FC Barcelona at the Signal Iduna Park on September 17, 2019 in Dortmund Germany (Photo by Laurens Lindhout/Soccrates/Getty Images) Soccrates Images Getty Images Player ratings: Dortmund vs Barcelona Ter Stegen - 9 Man of the match. Bongarts/Getty Images Player ratings: Dortmund vs Barcelona Nélson Semedo - 7 Soccer Football - Champions League - Group F - Borussia Dortmund v FC Barcelona - Signal Iduna Park, Dortmund, Germany - September 17, 2019 Barcelona's Nelson Semedo in action with Borussia Dortmund's Marco Reus REUTERS/Wolfgang Rattay WOLFGANG RATTAY REUTERS Player ratings: Dortmund vs Barcelona Pique - 7 DORTMUND, GERMANY - SEPTEMBER 17: Gerard Pique of FC Barcelona and Paco Alcacer of Borussia Dortmund during the UEFA Champions League group F match between Borussia Dortmund and FC Barcelona at Signal Iduna Park on September 17, 2019 in Dortmund, Germany. (Photo by Robbie Jay Barratt - AMA/Getty Images) Robbie Jay Barratt - AMA Getty Images Player ratings: Dortmund vs Barcelona Lenglet - 6 DORTMUND, GERMANY - SEPTEMBER 17: (L-R) Clement Lenglet of FC Barcelona, Paco Alcacer of Borussia Dortmund during the UEFA Champions League match between Borussia Dortmund v FC Barcelona at the Signal Iduna Park on September 17, 2019 in Dortmund Germany (Photo by Laurens Lindhout/Soccrates/Getty Images) Soccrates Images Getty Images Player ratings: Dortmund vs Barcelona Alba - 6 Referee Ovidiu Hategan speaks with Barcelona's Jordi Alba after he gots injured during the Champions League Group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, Tuesday Sept. 17, 2019. (AP Photo/Martin Meissner) Martin Meissner AP Player ratings: Dortmund vs Barcelona Arthur - 7 DORTMUND, GERMANY - SEPTEMBER 17: Thomas Delaney of Borussia Dortmund competes for the ball with Arthur Melo of FC Barcelona during the UEFA Champions League group F match between Borussia Dortmund and FC Barcelona at Signal Iduna Park on September 17, 2019 in Dortmund, Germany. (Photo by Quality Sport Images/Getty Images) Quality Sport Images Getty Images Player ratings: Dortmund vs Barcelona Busquets - 6 Soccer Football - Champions League - Group F - Borussia Dortmund v FC Barcelona - Signal Iduna Park, Dortmund, Germany - September 17, 2019 Barcelona's Sergio Busquets in action with Borussia Dortmund's Paco Alcacer REUTERS/Wolfgang Rattay WOLFGANG RATTAY REUTERS Player ratings: Dortmund vs Barcelona De Jong -7 DORTMUND, GERMANY - SEPTEMBER 17: Frenkie de Jong of FC Barcelona during the UEFA Champions League match between Borussia Dortmund v FC Barcelona at the Signal Iduna Park on September 17, 2019 in Dortmund Germany (Photo by Laurens Lindhout/Soccrates/Getty Images) Soccrates Images Getty Player ratings: Dortmund vs Barcelona Fati - 6 epa07849414 Barcelona's Ansu Fati in action during the UEFA Champions League group F soccer match between Borussia Dortmund and FC Barcelona in Dortmund, Germany, 17 September 2019. EPA/FRIEDEMANN VOGEL FRIEDEMANN VOGEL EPA Player ratings: Dortmund vs Barcelona Suarez - 5 DORTMUND, GERMANY - SEPTEMBER 17: Luis Suarez of FC Barcelona reacts during the UEFA Champions League group F match between Borussia Dortmund and FC Barcelona at Signal Iduna Park on September 17, 2019 in Dortmund, Germany. (Photo by Christian Kaspar-Bartke/Bongarts/Getty Images) Christian Kaspar-Bartke Bongarts/Getty Images Player ratings: Dortmund vs Barcelona Griezmann - 5 Barcelona's French forward Antoine Griezmann (L) and Barcelona's Spanish defender Jordi Alba react during the UEFA Champions League Group F football match Borussia Dortmund v FC Barcelona in Dortmund, western Germany, on September 17, 2019. (Photo by John MACDOUGALL / AFP)JOHN MACDOUGALL/AFP/Getty Images JOHN MACDOUGALL AFP/Getty Images

Defender Mats Hummels showed why Dortmund brought him back from Bayern Munich with several vital interventions, starting with a block to deny Antoine Griezmann's first effort for Barcelona, then a crucial headed clearance from the lurking Luis Suarez. Griezmann, on his Champions League debut for Barcelona, produced the cross.

Dortmund's first big chance fell to Reus, who was denied for the first time by ter Stegen in the 25th. England international Jadon Sancho also missed a good opportunity.

A Barcelona corner caused chaos in the Dortmund defence, with Roman Burki punching the ball clear and Fati's effort from the rebound deflected over by Reus.

Dortmund were more aggressive after the break but ultimately couldn't get past ter Stegen. Messi, meanwhile, looked far from his best and the home fans cheered loudly when he was crowded off the ball by three defenders as the Argentine failed to make an impact.

Slavia Prague held Inter Milan 1-1 after conceding a late equaliser in the other Group F game in Italy.

Elsewhere, teenage striker Erling Braut Haaland introduced himself to the Champions League with a hat trick Tuesday as Salzburg hammered Genk 6-2.

Haaland hit a stunning first-half hat-trick (Getty)

The 19-year-old Norwegian gave Salzburg the lead in the second minute and added two more in the 34th and 45th. Haaland is the third-youngest player to score a Champions League hat trick after Raul in 1995 and Wayne Rooney in 2004.

The son of former Leeds and Manchester City player Alf-Inge Haaland, he attracted attention in May when he scored nine goals for Norway in an under-20 World Cup game against Honduras. Haaland has torn up Austrian competitions since joining in the summer from Norway's Molde, scoring 14 goals in eight league and cup games.

Hwang Hee-chan scored one goal and set up two more for Salzburg, who are playing in Europe's top club competition for the first time in 25 years. It was the highest-scoring Champions League game since Paris Saint-Germain beat Celtic 7-1 in 2017.

The Austrian champions have not lost any of their last 19 European home games in deep runs through the Europa League knockout stages and has won nine of its last 10.

22 under 22: The young stars to watch in the 2019/20 Champions League Show all 23 1 /23 22 under 22: The young stars to watch in the 2019/20 Champions League 22 under 22: The young stars to watch in the 2019/20 Champions League 22 under 22: The young players who could light up this year's Champions League LONDON, ENGLAND - NOVEMBER 27: Rain is seen on Champions League logo on an umbrella ahead of an Inter Milan press conference at Wembley Stadium on November 27, 2018 in London, England. (Photo by Julian Finney/Getty Images) Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Callum Hudson-Odoi, Chelsea Though Chelsea have plenty of options in wide areas, there will be pressure from Blues fans on Frank Lampard, as there was on Maurizio Sarri, to play Hudson-Odoi consistently. He impressed in last year’s Europa League, and combines unpredictability in 1-v-1 situations with a useful end product to make him a daunting prospect to face. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Renan Lodi, Atletico Madrid Replacing Filipe Luis at Atletico Madrid will be a tough task for Renan Lodi, but the Brazilian is Atletico’s only natural left-back and will therefore be integral for Diego Simeone this season. Lodi is a typical marauding Brazilian full-back, and is a keen crosser of the ball which suits Atletico’s style of play. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Eljif Elmas, Napoli The Macedonian is an eager midfielder, to say the least. Elmas distributes the ball well and is usually on the move shortly after, and has displayed a keen appetite for winning the ball back. Signed from Fenerbahce this summer, he has impressed in his short time with Napoli as a player who is always happy to take possession of the ball. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Colin Dagba, PSG PSG are not typically associated with blooding through their own young talent, with many academy prospects often being sold rather than nurtured. Dagba has escaped such a fate, and established himself as first-choice right-back under Thomas Tuchel, keeping three clean sheets in his three starts this season. AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Matthijs de Ligt, Juventus The Dutchman already seems like a generational talent and was immense in Ajax’s run to the semi-finals last year. He will be under a microscope at Juventus, especially with Giorgio Chiellini injured, but has already shown incredible leadership qualities and the ability to bounce back from a rocky debut as he did with the Netherlands. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Ferran Torres, Valencia Valencia’s young winger is a first-team regular, despite being just 19. The Spaniard operates predominantly from the right-hand side of midfield as an old-school type of winger - stay wide, beat a man, cross the ball - but is also comfortable taking up positions across the attacking third. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Rodrygo, Real Madrid The 18-year-old is one of the world's brightest young talents and capable of becoming a prolific goalscorer AFP via Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Trent Alexander-Arnold, Liverpool The Englishman’s technical abilities are virtually unparalleled as a full-back, and many argue that he is already the best right-back in the world. In order to ratify such claims, Alexander-Arnold will have to help improve Liverpool’s group stage away record from last year when they lost against PSG, Napoli and Red Star Belgrade, only just qualifying. Liverpool FC via Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Vinicius Jr, Real Madrid With Real Madrid’s relatively small and injury hit squad, there is an expectation that Vinicius Jr will get chances to impress, particularly in games against Club Brugge and Galatasaray. The Brazilian has bags of flair and ability, but does need to work on his goal output before he can be considered as a more than a prospect. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Victor Osimhen, Lille The Nigerian striker was signed with some of the fee Lille received for Nicholas Pepe, and looks to be a good investment with five goals in as many games in Ligue 1. Osimhen has shown he can handle the pressure of filling another’s shoes, and will be seeking to impress as Lille’s main man. AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Lisandro Martinez, Ajax One of two defenders signed to replace Matthijs de Ligt, Lisandro Martinez has hit the ground running at Ajax, who themselves will be looking to take advantage of a group without a clear favourite (Chelsea, Valencia, Lille). Martinez’s efforts from the back are sure to be crucial in any Champions League success they have. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Florentino Luis, Benfica Benfica are synonymous with producing talented players, and Florentino Luis appears to be the latest prospect from Lisbon. The midfielder reads the game exceptionally well, and it is not uncommon to see him slide in to intercept a pass. He is a deft tackler, but is not without technique and is more than capable of playing around a pressing opponent AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Reece James, Chelsea After a very successful campaign with Wigan, the Chelsea full-back’s stock seems to have risen substantially this season, despite not playing a game due to injury. Cesar Azpilicueta has not played well and has looked like a player who has played 205 games in four seasons, with James likely to be given minutes in the Champions League in order to give the club captain a much-needed rest. AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Houssem Aouar, Lyon Aouar has a wonderful ability of carrying the ball into the final third, and is also capable of operating in tight spaces in and around the box. The composed midfielder has established himself as one of Lyon’s most important players in recent years, and is another who may move on next season. AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Ibrahima Konate, RB Leipzig The French defender is a towering presence at the heart of the Leipzig defence. With the German club handed a group they should back themselves to qualify from (Lyon, Zenit and Benfica), it is likely we will see Konate test himself in the latter stages of the competition as well. Bongarts/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Ansu Fati, Barcelona Given his performances thus far for Barcelona, it seems inconceivable that Ansu Fati is just 16. The Barcelona shirt does not seem to weigh him down at all - he plays with a freedom and unpredictability that is extremely refreshing and is sure to get him further opportunities to impress this season. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Tete, Shakhtar Donetsk The latest in Shakhtar’s production line of young Brazilians, Tete joined the club from Gremio in February. The skillful winger has impressed in his short time at the club, and is capable of causing real problems from the right-hand side. AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Kai Havertz, Bayer Leverkusen Although he is only 20, Havertz has made over 100 appearances for Bayer Leverkusen. Last season in the Bundesliga he established himself as a goal-scoring midfielder, scoring 17 times. This season’s Champions League campaign is the chance for Havertz to further showcase his ability to Europe’s elite - with the expectation that he will leave Leverkusen at the end of this season. Bongarts/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Mason Mount, Chelsea It is a rarity to see players transition from the Championship to the Premier League so easily, but Mount has taken to the Chelsea first team like a duck to water. The Englishman’s game intelligence is astounding at such a young age, and will suit the demands of Champions League football. AFP/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Dani Olmo, Dinamo Zagreb Dani Olmo starred for Spain at the under 21 Euros during the summer, and surprisingly was not snapped up from Dinamo Zagreb. He moved to Croatia from Barcelona’s La Masia academy back in 2014 and has not looked back, winning the league’s player of the year last season. The attacking midfielder will have plenty of opportunities to impress and potentially qualify, with Zagreb fighting Atalanta and Shakhtar Donetsk for second place behind Manchester City. Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Jadon Sancho, Borussia Dortmund Sancho’s talents are well-established but he should not be satisfied with just being a recognised player. This season’s Champions League, when Dortmund face Barcelona and Inter Milan, is the perfect stage for him to show he can cope with the pressure of expectation and be talked about in the elite bracket of players by leading by example. Bongarts/Getty Images 22 under 22: The young stars to watch in the 2019/20 Champions League Joao Felix, Atletico Madrid At the age of just 19, Joao Felix has the weighty expectations of Atletico Madrid fans upon his shoulders. His abilities with the ball are immense, but is another who will be looking to prove that they can make the step up and perform under intense scrutiny. Getty Images

Belgian champions Genk have played in the Champions League group stage twice before, in 2002 and 2011, but have failed to win any of their 13 games to date.

Champions League results

Group E:

Red Bull Salzburg 6-2 Genk 2

Napoli 2-0 Liverpool

Group F:

Inter Milan 1-1 Slavia Prague

Borussia Dortmund 0-0 Barcelona

Group G

Lyon 1-1 Zenit St Petersburg

Benfica 1-2 RB Leipzig

Group H