The Dolly Blues came from behind to see off their National League North opponents in their third qualifying round replay.
Goals from Matthew Blinkhorn and Steven Williams set up a tasty home tie against Blyth Spartans, after Rowan Liburd had given Guiseley an early lead.
Liburd had also scored in the original fixture at The Giant Axe, where William Thornton’s last minute equaliser denied the Dolly Blues at the first time of asking.
They join Farsley Celtic, Basford United, Workington and Ramsbottom United as the NPL’s representatives in Saturday’s first round.
Boss Mark Fell told the club’s official website: "I’m absolutely made up for everyone at the club. For me we were so unlucky to not win the first tie and then we felt a bit aggrieved with the late postponement last week - so motivation wasn’t really an issue but I still felt we were below our best 1st half.
“We asked for some changes at half time and again the lads response was first class."
Lancaster's win means their scheduled EVO-STIK League Premier Division clash away at Bamber Bridge on Saturday has now been postponed.
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