At half-time, the Scots found themselves ahead by a single point. When play resumed, Ireland started off strongly.
After opening up a five-point lead - the biggest of the match - the Irish seemed confident and Scotland substituted Dave Hilton and Stuart Grimes for George Graham and Damian Cronin.
This seemed to work and the Scots began their fight-back with Craig Chalmers goalkicking his second penalty in the 65th minute.
The final 17-16 result means Ireland has still to overcome its 10-year failure to beat Scotland.
During the match, the lead changed hands five times.
In injury time, the Irish star of the match David Humphreys attempted a drop-goal that would have thrown the outcome, but it fell short.
Scotland's injured Rowen Shepherd also missed four of his six attempts.
The only tries came in a three-minute spell just before half-time.
Ireland were awarded a penalty try before the Scotland centre, Alan Tait, quickly struck back.
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