Here's a selection of images from some of the club's more memorable encounters in the competition from season 2005/06 to present.
1.
Harrogate Town's Danny Holland challenges James Sharp during the FA Cup first round replay clash with Torquay United at Wetherby Road on November 15, 2005. | Getty
2.
Roy Hunter on the ball for Town during their 0-0 replay draw with Torquay. The initial tie at Plainmoor had ended 1-1, Danny Holland the man on target for Town. | Getty
4.
Seven years later, Town drew Torquay once again in the first round and made history by progressing courtesy of a 1-0 victory on the road. Chib Chilaka scored the only goal of the game on 19 minutes. | other
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