Royals progress to the second round thanks to goalkeeper Pete Davis saving the tenth penalty kick to give his side a 5-4 win on penalties following the tie ending all square at 1-1 after extra time.
United started the match positively with Joe Swaine firing over the cross bar in the first minute following a Toby Briggs cross, but it was the visitors who took the lead in the seventeenth minute when Joe Sissons was adjudged to have pushed an opponent when heading a ball clear following a corner kick. The penalty was duly dispatched which gave Rotherfield the lead which they took into half time.
Woodley played good football in the second half creating chances with Ross Blakemore twice denied by keeper Ryan Richardson and Sissons heading against the cross bar. The equalising goal was also a penalty dispatched by Blakemore in the sixty seventh minute following a foul on the same player.
Briggs had a chance to win the match late in normal time but his shot narrowly went wide of the top right hand upright.
With no goals in extra time the match went to penalty kicks with Blakemore, Liam Wilson, Jez West, Briggs and Dave Bill all converting for the hosts. Rotherfield scored their four kicks before Davis dived to this left to keep out the fifth kick and give Woodley the win.