Neil Moore scored in the last minute of normal time as Nuneaton beat Histon to set up an FA Cup third round home tie with Premiership Middlesbrough.
Goalscorer Robert Oddy and Terry Angus celebrate at the final whistle
Histon's Colin Bowden hit the bar on the half hour, but Nuneaton took the lead through Robert Oddy's low shot.
Leon Gutzmore hit the post for Histon before they drew level when Bowden headed in Jamie Barker's cross.
But with the game seemingly heading for extra time, Moore headed in to win the tie for Nuneaton.
Histon: Key, Okay, Jackman, Hipperson, Bowden, Barker, Haniver (Ian Cambridge 90), Neil Andrews, Adrian Cambridge, Gutzmore (Nightingale 83), Knight-Percival.
Subs Not Used: Farrington, Hulyer, Goddard.
Booked: Okay, Hipperson.
Goals: Bowden 61.
Nuneaton: Acton, Oddy, Moore, Angus, Love, Collins, Noon, Reeves (Fitzpatrick 21), Staff, Quailey, Murphy (Frew 81).
Subs Not Used: Poole, Foster, Wilkin.
Booked: Noon, Frew.
Goals: Oddy 34, Moore 90.
Ref: P Melin (Surrey).