Tony Hackworth's men came from behind to grab a dramatic victory on Friday night.
Pikes came close through Nathan Dyer early on and grabbed the lead through George Brown, after skipper Connor Avison's header.
However, visitors Penrith, from the equivalent Northern League, levelled just after the half hour.
The Cumbrians then went in front for the first time with 15 minutes left.
But a beautiful through ball picked out Joe Wood to slot home one on one, with eight minutes remaining.
However, there was even better to come as Pikes won it at the death.
Within ten minutes of his introduction, Jordan Hinds settled the clash with a 93-rd minute winner to book a home clash with another Northern League side in the next round. It'll be Easington Colliery or Boro Rangers at Mill Lane for the Preliminary Round clash.
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