The two sides have already met this season, with Stevenage coming out on top, beating the Stags 1-0 at the One Call Stadium last month.
Match preview
This will be the first time the two clubs have ever met in the FA Cup, with all previous 18 meetings coming in the league, and Stevenage will be looking to do a first in this fixture, winning back-to-back meetings, after that away win in October.
Another club first is on the cards for Alex Revell's men too, because progression here would see them reach the third round of the FA Cup three seasons running for the first time.
Stevenage were one of non-league Maidstone United's victims on their miracle run in last year's competition, going out at the third round stage, but Boro went one further the year before, going out to Stoke City in round four.
It looked as though they may struggle to get past round one this time around though, as Stevenage were given an almighty scare against seventh-tier Guiseley, needing penalties to advance to the second round for a fifth-straight season.
That unconvincing win did at least halt their losing run at the time, as Revell's side had shipped eight in three defeats to Cambridge United, Rotherham United and Bolton Wanderers.
Since then, Boro have not lost in 90 minutes, but they also have not won, drawing in the league with Reading and Leyton Orient, and losing on penalties in the EFL Trophy to Gillingham.
Mansfield are five points above Stevenage in League One, but have endured a rotten run of their own recently in the face of some tough opposition.
Nigel Clough's men have faced Bristol Rovers and the current top two, Wycombe Wanderers and Wrexham, across their last three, losing each by a solitary goal.
The Stags' last win came in round one of this competition, when an early red card helped them to easily sweep aside non-league Curzon Ashton 4-0 on the road.
That win extended their run to seven wins from nine games at the time, so Clough's men will look to bounce back here after those three defeats.
Mansfield's first trip to Stevenage ended in a 3-0 defeat back in 2014, but since then, they have not lost in seven visits - winning on five occasions.
Their form in the FA Cup on the road is also impressive, considering they have won four of their last five away games in this competition, so they will hope to tap into that to reach the third round for the first time since the 2021-22 season.
Stevenage FA Cup form:
W
Stevenage form (all competitions):
L
L
W
D
L
D
Mansfield Town FA Cup form:
W
Mansfield Town form (all competitions):
D
W
W
L
L
L
Team News
Stevenage goalkeeper Murphy Cooper returned from injury to keep a clean sheet against Leyton Orient last weekend, marking a fine run of form that saw him save the vital penalty against Guiseley, and keep Reading at bay a week later, making eight stops.
Charlie Goode and Dan Sweeney are injured in defence, but Louis Thompson recovered from one to start last weekend, and after going with a strong XI against Guiseley, manager Revell may do so again.
Attack is a concern though, because Jamie Reid and Jordan Roberts, who both started up front against Leyton Orient, have just one goal between them this season.
Mansfield were able to welcome Baily Cargill and Frazer Blake-Tracy back to the team in midweek, but Lee Gregory was not fit enough in time to feature.
Getting Gregory back soon will be hugely important, considering only three players have scored more goals than his tally of seven in League One so far this season.
Rhys Oates is ruled out, and Stephen Quinn and Louis Reed both missed the trip to Wycombe in the week, while Alfie Kilgour will hope for another rare start, like he was handed in the previous round.
Stevenage possible starting lineup:
Cooper; Freeman, Smith, Freestone, Butler; King, White, Kemp; Roberts, Reid, Pressley
Mansfield Town possible starting lineup:
Pym; Oshilaja, Flint, Cargill; Hewitt, Boateng, Maris, Lewis, Blake-Tracy; Akins, Evans
We say: Stevenage 1-2 Mansfield Town
Stevenage may have won the league fixture last month, but they have not won in 90 minutes since, losing three and drawing four, including against lower-league opponents.