The Seadogs will travel to the Peak District on Tuesday night for a National North play-off quarter final.
Boro go to full-time Derbyshire side Buxton with a 7.45pm start in what's officially called the 'Playoff Eliminator'.
In temperatures which reached the 20C mark, the Seadogs set the game alight, almost going ahead inside two minutes when Harry Green's effort was brilliantly touched onto the crossbar by the Bedford keeper.
Moments later, Alex Brown had an effort which was deflected onto the bar too.
Will Thornton slid in to deny Bedford around the half hour mark.
The hosts, trying to avoid relegation and also keeping a close eye on other results, fired over early in the second half before they grabbed the lead 12 minutes after the restart. Sam Brown with a bullet header from a perfect cross beyond the hands of Ryan Whitley.
Boro weren't behind for long though. After great build-up play from Luca Colville, Alex Wiles squared for Rio Allan to fire home on 66 minutes from 6 yards out.
Here's how the goals went in:
Boro fans celebrated the equaliser in the southern sunshine...
Alex Wiles came close but it remained 1-1 which was enough for Boro to make the National League North Playoffs for the very first time, thanks to Chester only drawing and Merthyr Town losing.
Paddy got an emotional Scarborough Athletic Marketing Director Chris Marson's live reaction once the other results were confirmed:
Scarborough's players celebrated with their fans after the game, with 356 officially counted as making the 7-hour round-trip.
Boro midfielder Alex Purver spoke to Paddy after the final whistle, and says the team has nothing to fear ahead of the midweek trip to the full-timers:
Captain Will Thornton described how the team coped with the pressure:
Paddy also spoke to Manager Jono Greening after the final whistle, who said he felt hugely proud of his players:
Scarborough will release ticket information as soon as possible ahead of Tuesday's Playoff Eliminator.
If you really can't make the game, we'll have full match commentary on This Is The Coast Extra.
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