(Torquay win 6-5 on penalties)
Keeper Andy Marriott denied Roy Hunter and Leigh Wood and scored the decisive penalty as Torquay won a shoot-out 6-5 to reach the FA Cup second round.
Torquay captain Craig Taylor hit the bar with his penalty but his side survived and now face Notts County.
Torquay had the better chances during the game with Steve Woods' effort being blocked on the line and Michael Price making a superb stop from Kevin Hill.
United's Anthony Lloyd missed a great chance to win it before the shoot-out.
Harrogate Town: Price, Leigh Wood, Brass, Ellerker, Heard, Mason, Hunter, Philpott (Lennon 111), Holland, Smith, Grant.
Subs Not Used: Nogan, Ryan, Preston, Sutcliffe.
Booked: Leigh Wood, Lennon.
Torquay: Marriott, Woods, Taylor, Sharp, Lloyd, Hockley, Garner (Coleman 99), Woodman, Hill, Bedeau, Stonebridge.
Subs Not Used: Hewlett, Bittner, Phillips, Sako.
Torquay win 6-5 on penalties.
Ref: C Oliver (Northumberland).