Ryan Blake scored the winner when extra-time looked likely with Luton Town icon Mick Harford a keen onlooker among the 1,000 plus crowd.
The Merseyside outfit took an early lead when defender Stephen Hoy scored from close range failed when St Joe's to clear a free kick.
It was level at the break after midfielder Patrick McCafferty lashed home when he found himself unmarked inside the penalty area.
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