The Millers looked certain to win when captain Tom Maddison converted his eighth penalty of the season to put Carlton 3-0 ahead with just 15 minutes left. But Bedford, who had Ben Ford sent off for the hand ball that led to the penalty, launched a stirring response and Carlton were hanging on at the end.

Managers Tommy Brookbanks and Mark Harvey made one change from the side which won at Chasetown last time out, with Dan Brown replacing Oliver Robinson at right back.

The Millers got off to the perfect start with a goal inside five minutes. Martin Ball played a lovely ball into the path of Tyler Blake. He held off Ollie Swain before firing past Aaron Dillon, who got a hand to the ball but couldn’t keep it out.

Bedford, who like Carlton had only lost once in their league this season, had their first effort on 11 minutes when Tom Maddison cleared a Callum Milne shot off the line.

The Eagles passed the ball neatly but offered little threat to a Carlton rearguard which was looking its usual solid self. Ball and Toby Moore won everything down the middle and the visitors could find no way past Brown and Daniel Fletcher at full back.

Carlton had the majority of possession and should have doubled their lead midway through the half. Oliver Clark found Aaron Opoku on the right. He pulled the ball back to Danny Elliott who had time and space in the penalty area but his didn’t make a clean connection with his shot and Dillon was able to palm it away.

Elliott then saw another effort deflected wide as Carlton pushed forward.

Fletcher went off injured early in the second half, replaced by Tyler Johal, but Carlton did get the second goal on 50 minutes and it was a gift from Bedford. Opoku got a foot to a Swain back pass to put a bit more pace on it, but there looked to be no difficulty for the Eagles until Dillon missed the ball completely and could only chase back horrified as the ball rolled into the net.

Ball then headed just over the bar from a Niall Davie corner as Carlton looked to kill the game. Clark was desperately close to making it 3-0 when, after a lovely turn on the edge of the box, he hit a wonderful curling effort that beat Dillon but struck the post. The rebound fell to Blake who looked certain to score but he scuffed his shot wide of target.

Next it was Davie’s turn to shoot after some fine work by Elliott and Opoku but Dillon made a decent save.

Carlton made a double substitution with 25 minutes of the half still to play and Bedford showed they weren’t out of the game when Jack Vasey headed wide from a Ford corner.

But Carlton were working as hard as ever and still looked comfortable and the game looked to be over when they scored their third goal.

Another fine run and cross from Clark led to a corner. Luke Smithson sent it into the area, Clark rose highest to head goalwards and Ford stuck out an arm to push the ball onto the bar and away from goal. The referee had a perfect view, awarded the penalty and dismissed Ford. Maddison stepped up to convert the spot kick and seemingly end the game.

However Bedford had other ideas and within two minutes they pulled a goal back when Tom Hitchcock hit a fine volley on the right side of the area into the corner of the net.

Suddenly the Bedford tails were up and Andrew Phillips hit a tame shot in a good position that was easily saved by Jack Steggles.

The visitors, cheered on by an impressive away support, were right back in the game when they scored again on 84 minutes. Mamoke Akaunu lost possession on the Carlton left, the ball was moved inside to Brett Longden and he hit a low drive from 25 yards which beat Steggles to his left.

Bedford pushed forward in search of an equaliser, Carlton did their best to see out the remaining time, and the five minutes added time became nine minutes after some argy-bargy between the two dugouts. The Millers held on and moved into the First Round Qualifying.

Carlton Town: Steggles, Brown, Fletcher (Johal 48), Ball, Moore, Maddison, Elliott (Smithson 65), Clark, Opoku, Blake (Akaunu 65), Davie. Unused substitutes: Robinson, Thomas, Otim, Charlton.

Goals: Blake 5, Opoku 50, Maddison 75 (pen); Tom Hitchcock 77, Brett Longden 84.

Carlton Town Supporters Club MOTM: Aaron Opoku

Attendance: 119