Manager Gordon Strachan says Scotland played without fear and he expected them beat Germany when the score was 1-1 against world champions Germany.
Thomas Muller's first-half header was cancelled out by Ikechi Anya's strike in the Euro 2016 qualifying opener, but Muller netted his second from a poorly defended corner to secure victory for Joachim Low's side.
"At 1-1, I genuinely believed we were going to win the game," said Strachan.