The Blues maintain their long unbeaten home run, but Manager Nathan Haslam says it's "2 points dropped".
Whitby created some great chances in the first half, the best being Junior Mondal going clean through, but failing to round the keeper to put the Blues ahead.
Town did take the lead early in the 2nd half through Nathan Thomas in the 51st minute.
Lancaster, who sit just above Whitby in the league table, created chances late on and were rewarded with an equaliser just 7 minutes from time, the goal scored by Christian Sloan after Whitby lost posession.
Shane Bland made a great save in the dying minutes to prevent Lancaster taking the lead and stealing all 3 points.
Whitby sit 9th in the Northern Premier League, 7 points behind the playoffs but with a number of games in hand over many of the teams above.
They next travel over the Humber Bridge to face Gainsborough on Saturday.
Hear are the thoughts of Whitby Manager Nathan Haslam:
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