The Pikes were pushed all the way by Teesside opposition on Friday night.
In-form Souleymane Coulibaly broke the deadlock for Simon Heslop's men, inside four minutes, at Mill Lane.
Defender Marshall Nock then doubled their advantage around the half hour mark.
However, visitors Grangetown Boys Club pulled one back, six minutes before half-time.
And when the Northern League Second Division side netted a leveller, with 19 minutes left, it looked as though penalties loomed.
But Coulibaly won the clash with a third for Pickering to seal a 3-2 victory.
They earn £725 from the win and are now in the FA Vase First Round proper.


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