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Torps equalised for the Iron on 27 minutes, when he capitalised on a poor punch from Roche in the Forest goal.
Harewood and Johnson both had chances to regain the lead for the visitors before the break, but a string of substitutions for the Iron at the break saw them take the initiative.
Lee Ridley, Steve Capper, Steve MacLean, Wayne Graves and Alex Calvo-Garcia all came on, and Graves gave United the lead in the 54th minute.
Four minutes later MacLean, on trial from Scottish giants Rangers and set to join the club in a loan switch, fired home a volley to extend the lead.
A late flurry of substitutions from the visitors looked to end their hopes of getting a draw, but Brian Cash pulled one back on 87 minutes and a 35-yard effot from Andy Reid a minute later saw the game finish at three goals a-piece.