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.
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.
3.
Gareth Grant chases down the ball.
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.