Kyle Patterson's stoppage time header secured Tamworth a replay against 10-man Hinckley United in a pulsating 2-2 draw.
Four goals in the last 12 minutes made for a frenetic finish with Andre Gray opening the scoring for the Conference North hosts, who had earlier seen keeper Dan Haystead sent off for kicking out at Patterson.
Iyseden Christie equalised from the spot after Charlie Raglan's trip on 83 minutes.
However, Lloyd Kerry's audacious 87th minute chip re-established the Knitters' slender lead.
But there was time for Patterson to break Hinckley's hearts, knocking in Paul Green's long ball in the dying seconds to spare the Blue Square Bet Premier side.
Tamworth's Francino Francis and Patrick Kanyuka both missed the target from two Danny Thomas corners as The Lambs applied early pressure.
Hinckley responded well with Sam Belcher thumping a right-footed 20-yard effort against the upright on 28 minutes.
Hopes of an upset took a blow in the 40th minute as goalkeeper Haystead received his marching orders.
Referee Richard West proceeded to award Tamworth a disputed penalty, but after lengthy discussions with his assistant referee controversially retracted his decision.
Christie, who would have taken the penalty, saw his towering header bounce back off the bar on 57 minutes before the late drama.