Here's a selection of images from some of the club's more memorable encounters in the competition from season 2005/06 to present.
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.
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.
Gareth Grant chases down the ball.
The Town players celebrate a penalty save by goalkeeper Michael Price before eventually losing 6-5 to Torquay in the shoot-out at Wetherby Road.