First-half goals from Bradley Pritchard and Jake Sheridan saw Tamworth come from behind to beat Grays.
Dean Morgan fired the visitors ahead with a left-foot effort from 15 yards.
But Pritchard's close-range effort made it 1-1 and Tamworth edged ahead after 25 minutes when Sheridan finished from six yards.
Jamie Slabber and Daniel Charge missed second-half headers for Grays as they pressed for an equaliser, while Alex Rodman went close for the Lambs.
Tamworth: Alcock, Tait, Smith, Briscoe, Wylde (Blackwood 38), Rodman, Shaw, MacKenzie, Pritchard, Sheridan (Nicholson 90), Wright (Lake-Gaskin 70). Subs Not Used: Lyttle, Benjamin.
Goals: Pritchard 20, Sheridan 25.
Grays Athletic: Edwards, Davis, Hoyte, Mawer, Bull, Graham, Cutler (Braham-Barrett 46), Terry, Long (Black 61), Morgan (Charge 56), Slabber. Subs Not Used: Lumley, Makofo.
Booked: Davis, Hoyte, Mawer.
Goals: Morgan 13.
Att: 729.
Ref: M Amphlett (England).
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