Scarborough 1 Cambridge 0.
Gareth Williams produced the picture goal in the 71st minute when he dived full length to headhome from Ben Worrell's superb left foot cross.
Scarborough, without new striker Liam Robinson due to illness, found an able substitute in Dutch midfielder Carel van der Velden, who rose to the occasion on his debut.
Manager Mick Wadsworth said: "The result was a splendid confidence booster and both sides worked really hard despite the hot weather.
"There was some really sound defending by our back four, but there were two penalty decisions which should not have gone against us."