The second round replay between the non-league pair was decided late on as Louis Briscoe as he smashed home from just inside the box.
The Stags took the lead just 14-minutes in when John Dempster converted from a Chris Clements free-kick.
Lincoln came back into the game when winger Adam Smith neatly finished just before the break - but was the home side who prevailed courtesy of Briscoe's effort.
Mansfield have now set-up a money spinning home clash with Premier League Liverpool in the third round.
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