Tamworth booked their place in the third round of the FA Cup for the second successive year after they edged past Conference rivals Rushden with a 2-1 win.
A goal in each half from Steve Burton and John McGrath put the Lambs in control before substitute Tom Shaw's late goal set-up a grandstand finish.
The visitors settled the quicker and striker Taiwo Atieno went close from long range and also had a shot saved by Scott Tynan.
Glenn Wilson then tried his luck at the other end before Marcus Kelly and Chris Hope had shots blocked by the Lambs defence.
On the half hour Lee Tomlin fed Dave Savage with a through ball but the veteran midfielder's first touch let him down and Portuguese goalkeeper Jose Veiga cleared the danger.
The breakthrough came three minutes before the break when McGrath's free-kick was not dealt with by the home defence and Burton forced the ball home from close range.
Chances were few and far between after the break but McGrath extended their lead in the 77th minute. The left-winger picked the ball up in midfield and his 25-yard shot flew past Tynan and into the bottom corner.
Dan Chillingworth and Curtis Woodhouse combined to help Shaw reduce the arrears seven minutes later but Tamworth held on.