Barnet controlled the first half with 78% possession but struggled to break down a stubborn Carshalton back line.
The dead lock was eventually broken when Ephron Mason-Clark was fouled, giving Shaq Coulthirst the chance to add another to his tally and he duly dispatched the spot kick.
Mason-Clark was played through by Taylor shortly before the half time whistle and he could make no mistake from close range.
The hosts came out a different side after the break and pulled one back in the 69th minute through a powerful Olawale Sogbanmu from a corner.
Shaq Coulthirst added a third soon after however with a wonderfully struck curl into the top right corner from 20 yards out.
The Bees were pegged back once more when a corner was flicked on and Sogbanmu’s effort struck Byron Harrison and crawled over the line.
With two minutes to play, the referee pointed to the spot after a soft challenge from Craig Robson was adjudged to have been enough for a penalty.
Captain Bobby Price stepped up and duly converted.
A replay will be needed to see who will progress through to the Quarter Finals, date to be confirmed.
Barnet – Huffer, Alexander, Johnson, Robson, Coulthirst, Taylor (Harrison 73), Fonguck, Elito (Boucaud 46), Sweeney (Sparkes 68), Mason-Clark, Charles
Unused – Cousins, Tutonda
Attendance – 938
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