A John Grant injury-time penalty earned Aldershot a first-round FA Cup replay with Rotherham and maintained his team's year-long unbeaten home record.
Pablo Mills fired wide for Rotherham before Aldershot's Anthony Charles hit the woodwork with a long-range effort.
Rotherham went ahead after the break when Michael Cummins converted Alex Rhodes' cross beyond Andy Warrington.
But then the home side levelled when Grant struck from the spot after Marvin Morgan had been fouled by Nick Fenton.
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Goals: Grant 90 pen.
Booked: Broughton, Barker.
Goals: Cummins 54.
Att: 2,632
Ref: Jarnail Singh (Middlesex).
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