Town’s lead cut to 11 points
After a goalless first half, the U’s went ahead through Adam Cunnington’s penalty before they were pegged back when Tobi Sho-Silva scored.
Delano Sam-York grabbed a winner on 75 minutes though to ensure United closed the gap on Hatters.
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Third placed Alfreton moved to 13 points adrift after they eased past struggling Tamworth 4-2.
Town are back in action this weekend when they host Chester, while Cambridge play their FA Trophy final against Gosport Borough and Alfreton visit Halifax on Monday night.
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