More on KentOnline
Danny Harris struck an 89th-minute goal to send Dartford into the last 16 of the FA Trophy.
But they were made to work hard by Burgess Hill Town, who are currently leaders of Ryman League Division One South.
Dartford took the lead on five minutes when Harry Crawford struck from the spot, but the home side levelled things up six minutes before the break through Pat Harding.
And it looked like the Conference side would have to host Town in a replay until Harris popped up with a late, late winner.