Lutherans believe that the Body and Blood of our Savior Jesus Christ are truly present "in, with and under" the bread and wine. The basic statement of the Lutheran Confession in this regard is found at Article X of the Augsburg Confession:
"Of the Lord's Supper, they teach that the Body and Blood of Christ are truly present and are distributed to those who eat the Supper of the Lord; and they reject those who teach otherwise.".
Do you have a link to the text of the Lutheran liturgy, especially the consecration?