Town went in at half time two goals to the good thanks to goals from Ben Fidling and Elliott Andrew. A controversial penalty and a well taken header brought the sides level and no one could find the winning goal in 90 minutes.
Town restored their lead in the first period of extra time when Richard Jackson converted from the penalty spot.
With the last kick of the match Ruston skipper via a big deflection took the game to penalties but Town picked themselves up again to win 4-1.
Jackson, Nathan Rawdon, Scott Lowman and Andrew Bullivant all scored the important spot kicks.