City led 1-0 after dominating the first half but the tables were turned in the opening 20 minutes of the second half.
The arrival of substitutes Stephane Dalmat and John Jackson for injured pair Darren Anderton and Mauricio Taricco gave the side fresh imputus and chances were created before and after Gary Doherty's equaliser on 56 minutes.
City rallied late on but after a few nervous moments, the fourth round tie ended 1-1.
"I was filled with pleasure at the way we were able to come back from such a mediocre first half - and that's being kind - to play so well and change the game so dramatically," said David afterwards.
"We played with such a young side and it was such a vibrant performance in the second period, full of character.
"I'm pleased for the supporters. I'm sure they wouldn't have known what to do at half-time but they can go back now with hope for the second game."
The replay is at the Lane on Wednesday February 4, kick-off 7.45pm.
REPLAY TICKET DETAILS...
David Pleat was 'filled with pleasure' by our second half comeback in the FA Cup at Manchester City - and reserved special praise for our travelling support.