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United were handed the perfect opportunity to take the lead in the third minute, when Mark Wilson pulled down the returning Matt Sparrow in the area handing United a penalty kick.
Kevin Sharp, who converted a spot-kick at Boston last weekend, blasted the resultin ball over the bar.
Swansea were buoyed by the miss, and took a seventh minute lead when Lee Trundle curled in a fine left foot shot passed Tommy Evans.
Two minutes later Scunthorpe equalised, on-loan forward Steve McLean found Alex Calvo-Garcia on the goal line and it was easy for him to tap the ball home.
The Iron went ahead when they were awarded a second penalty in the 58th minute.
Swans defender Izzy Iriekpen pulled down McLean, after Iriekpen had been shown a straight red McLean dusted himself off to fire home his second goal for the club.
Despite being a man down the Welsh men struck back six minutes later, predictably it was Trundle with his eighth goal in seven games who earned them a point.
Scunthorpe pushed for a goal to restore their lead, with Matty Sparrow seeing a shot saved by the legs of Roger Freestone and second half sub Paul Hayes having an effort cleared off the line.