A galloping run from Scott Brown was brought to a crude end by a tug from McGivern, which earned the teenager his second yellow card on 57 minutes.
McFadden curled a shot wide as the Scots pressed for the breakthrough but Northern Ireland broke upfield and won a penalty when Feeney was brought crashing down by the sprawling McGregor, a half time replacement for Craig Gordon.
However, the Rangers goalkeeper flew to his right to push away Healy's spot-kick.
Barr was another half time substitute for Scotland and the Falkirk defender was denied a goal on his debut when Taylor held on to his powerful header from Robson's corner.
Taylor then made an impressive reaction stop to beat away McFadden's sharp shot on the turn from close range.
Scotland will hope to be sharper in attack for the forthcoming World Cup qualifying double-header against Macedonia and Iceland, while Northern Ireland can take heart ahead of their clash with Slovakia.
Scotland: Gordon (McGregor 46), Alexander, McManus (Barr 46), Weir (Berra 72), Naysmith, Brown, Thomson (Robson 46), Darren Fletcher (Stewart 69), Morrison (Commons 62), Miller, McFadden. Subs Not Used: Marshall, Whittaker, Boyd, Steven Fletcher, Clarkson.
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