An entertaining game in Hertfordshire saw Rovers gain a point at 5th placed Welwyn Garden City.
The hosts started much better and deservedly took the lead in the 7th minute, Jack Vasey latching onto a rebound from a good initial save from Peter Denton, to tap home from 5 yards.
Rovers grew into the game, and efforts from Robbie Goodman and Jordan Slama gave Kempston confidence going into the break.
The equaliser came after Ben Baker waited for full back Ricardo Green to overlap before putting in an inch perfect cross for Slama to head home from close range.
The game opened up with both teams feeling they could have gained an extra two points, with Alfie Powell for Kempston and Carl Mensah for The Citizens both coming close in stoppage time to clinch it.