Chelsea also topped their group, although their progress was less assured than United.
Chelsea opened with a 1-1 draw against unfancied Rosenborg at Stamford Bridge - a match that turned out to be Jose Mourinho's last game in charge.
Chelsea then went to Valencia in poor domestic form and with skipper John Terry wearing a mask to protect a facial injury. David Villa put Valencia ahead but the Blues rallied to a crucial 2-1 win.
Avram Grant's team then won two and drew two of their remaining games to win the group, with Didier Drogba scoring four goals.
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