Crawley Town draw Hednesford Town
The two clubs played each other regularly when they were in the Southern League.
The draw was made live on ITV by FA Cup winners Gerard Houllier and Ray Parlour.
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Hide AdStaffordshire club Hednesford won through to the first round with a 2-0 victory against Northern Premier League side Stamford AFC yesterday.
Crawley have twice reached the FA Cup Fifth Round when they played Manchester Utd at Old Trafford narrowly losing 1-0 in 2011 and then at home they lost 2-0 to Stoke City in 2012.
Last year the Reds reached the Third round and eventually lost to another Premier League club, Reading 3-1.
Full draw:
Morecambe v Southend
Walsall v Shrewsbury Town
Boreham Wood v Carlisle United
St Albans City v Mansfield Town
MK Dons v FC Halifax Town
Bristol Robers v York City
Tamworth v Cheltenham Town
Grimsby Town v Scunthorpe United
Bury v Cambridge United
Corby Town v Dover Athletic
Colchester v Sheffield United