Darlington midfielder Brian Atkinson scored his first Feethams goal in nearly four years to end Quakers' dismal run of results.
Atkinson hadn't scored at Feethams since December 1996 - during the 1-1 draw against Leyton Orient - but he kept calm with a 61st-minute penalty to give his side three much- needed points
In the course of winning their first League game in eight attempts, Quakers showed their character by coming back from a one-goal deficit to win - the first time that had happened since they clinched victory over the same opponents in February last year.
The improving Kevin Kyle also scored his first League goal while Atkinson's penalty was the first success from the spot this season.
However, not for the first time, Quakers conceded the opening goal and also missed chances.
Manager Gary Bennett had been adamant that the script had to change at some point because of his team's good approach work - and he was proved right.
There were several good performances as the players rolled up their sleeves after going a goal down for the ninth successive game, with Kyle in particular showing what he is capable of.
But Bennett later admitted he wasn't watching as Atkinson took the match-winning penalty.
"I just couldn't watch it," said Bennett. "When Brian put the ball on the spot, I just turned away and closed my eyes.
"Phil Brumwell gave us a commentary in the dugout, and we waited for the crowd reaction. I was delighted for Brian because he's getting more and more back to his old self with games under his belt.
"The lads didn't allow their heads to drop after the early goal, although by then we could have been two goals up.
"We equalised at just the right time and we grew in confidence as the game went on. We swapped our wingers for the second half and that caused Mansfield problems when they cut inside. We are very happy with the win."
Bennett is keeping his feet on the ground, especially with two cup ties coming up before the next League game at Leyton Orient on December 16.
"If we'd put our chances away in our previous games, we wouldn't be in this position, we'd be in the top four.
"It wasn't a case of not trying; it was a case of not finishing. We knew that we were missing ruthlessness in the box. I want the players to continue this form in the cup games this week."
Bennett was pleased for striker Kevin Kyle, who has now scored in successive home games.
"I thought Kevin did very well. I have always said that when he reaches his fitness, he would be an exciting player. We saw on Saturday how good he is, both upstairs and downstairs."
You could sense the old familiar story taking shape in the first five minutes.
Kyle put a header over the bar after just 45 seconds, then he chested down a cross from Martin Gray and fired across the face of goal, but Glenn Naylor was denied by a defender.
And Mansfield took the lead after six minutes. With Quakers appealing for offside, Chris Greenacre ran down the right wing, and pulled the ball back for Martin Pemberton to beat Andy Collett at his left-hand post.
Quakers lost their momentum before they levelled after 21 minutes with possibly their goal of the season so far.
Gray picked out Kyle on the far side of the penalty area, and the on- loan Sunderland striker hit the ball first time over Bobby Mimms and into the corner of the net.
He almost got another within five minutes but his reaction shot from a poor clearance was deflected wide. From the corner, Craig Liddle headed marginally over the top.
Mansfield nearly regained the lead, with first Pemberton and then the dangerous Bobby Hassle just off target.
Quakers began the second half with more determination and they should have gone ahead after 46 minutes when Kyle flicked on a Paul Heckingbottom free kick for Neil Aspin, sliding in just a few yards out, to poke the ball just wide.
Kyle put an indirect free kick over the bar after Mimms picked up a back pass, and Richard Hodgson, who swapped wings with Thomas Butler in the second half, ran into the box and shot straight at the keeper.
After an increasingly confident Kyle forced Mimms into another good save, Quakers got the winner just after the hour.
Aspin was clearly pushed only yards from the referee as he went for a right-wing cross, and Atkinson coolly slotted home the penalty.
Quakers were cautious after that and had to be careful not to concede an equaliser while pushing for a third.
However, young sub Adam Marsh nearly scored with his first touch, sidefooting wide from 12 yards.
Just to keep the nerves jangling, Hassell nearly equalised, but Collett touched his drive around the post
Comments: Our rules
We want our comments to be a lively and valuable part of our community - a place where readers can debate and engage with the most important local issues. The ability to comment on our stories is a privilege, not a right, however, and that privilege may be withdrawn if it is abused or misused.
Please report any comments that break our rules.
Read the rules hereComments are closed on this article