After a slow start from Selby they found themselves two goals down after 20 minutes, but Sam Calvert gave them hope just before the break.
It looked like a defeat for Town in the second half when the home team got a third.
However, a wonder goal from Liam Love gave Town hope and despite a Ned Dry penalty miss, Harry Clapham secured the point three minutes from time.
The Robins made three changes from the midweek cup game with Clapham and Finlay Wade returning. Love also returned to the line-up.
Selby had an early chance to take the lead when Clapham found himself with only home goalkeeper Lewis Hill to beat, but the shot-stopper blocked the effort and James Danby hit the rebound over the bar.
Town fell behind on 10 minutes when an Oliver Fisher free-kick caught goalkeeper Liam Wilson out and the ball bounced into the net.
The Robins looked to hit back and Calvert clipped an effort over the bar, but at the other end Dylan Hutson also came close firing over the bar.
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Town were looking lacklustre and it was no surprise when going two goals down after 19 minutes.
Wilson did well to block an effort with his legs and followed this up palming a follow up wide, however from this Scott Hutchinson managed to squeeze the ball home.
The home side were looking for a third and both Caden McGrath and Jack Bull did well to thwart efforts on the Selby goal. Wilson also did well to keep out an effort with his legs.
Ten minutes before the break, Town got a lifeline when Calvert steered the ball into the bottom corner of the net after an initial Clapham cross was half cleared.
Selby opened the second-half with a more purposeful showing. Clapham crossed but was unable to find a colleague in the goal area. The Town captain came close again with only Hill to beat, but the ball hit the goalkeeper’s leg.
Things were going bad for the Robins on 58 Minutes when Daniel North hit a third for Brigg, but minutes later Town were back into it with a peach of a goal from Love.
He ran onto a loose ball 30-yards out on the right of the pitch and his shot dipped over Hill into the top of the net.
Town were not sitting back and the ball was hacked away as Dry closed in. Dry then saw a shot go inches wide of a post.
Selby secured their well-earned point with three minutes left.
Substitute Connor Ryan did well to claim the ball from a tackle and he fed Dan Davison, who clipped the ball to Clapham, hitting it home from the edge of the penalty area.
SELBY TOWN: Wilson, McGrath, Love, Racher,(Charlton), Petch,(Marsh), Bull, Davison, Danby, Clapham, Calvert, Wade (Dry).Unused. St. Juste, Greening.
