Both sides started confidently although neither keeper was tested until the 10th min when Dunipace broke on the right but Rovers keeper David Thomson made a save with his feet to keep the scores level at 0-0.
Carlukes first chance came when an Ian Watt driving run ended with him being fouled but Mark Weirs free kick was well saved by the home keeper then Watt had an effort from the edge of the box that was also saved.
The scoring was opened in the 23rd min when the home team took the lead when poor marking in the Carluke defence allowed Miller through on goal and a low shot beat Thomson for 1-0.
Carluke began to control the match as the half wore on and another good run from Watt saw him cut in from the left but again his shot was well saved.
The visitors pressure did pay off in the 35th min though as Watt gained a corner for Carluke, the first delivery was cleared but Weirs second ball in to the back post was met by the head of Aldin El Zoubaidi who headed back across goal and Watt was on hand to head a great goal for Carluke for 1-1
Rovers controlled the rest of the half and James Martin chased down a ball that looked to be going out and got a cross in for Watt at the back post but his shot hit the post and was then saved by the home keeper, the last action of the half saw Watt gain yet another corner and this time Mark Haddow got a header in but it was just wide of the target.
Carluke started the second half the way they had finished the first and got another chance from a corner in the first minute of the half when Martins ball in was headed towards goal by Haddow but the ball was cleared off the line then a fine ball from Weir released Mark Cassidy but his final shot went just wide of the post a minute later.
Rovers had a golden chance to go in front in the 52nd min when a Weir free kick found El Zoubaidi at the back post but his glancing header was just wide of goal when it looked certain he would score.
Carluke paid the price for these missed chances when a rash challenge from Chick McCole won a penalty for the home side and Costello made no mistake from the spot for 2-1 to Dunipace after 56 mins.
Carluke continued to create chances with Watt coming in from the right and going across goal before getting a shot in but this went over the bar then an Alberto Vezza driving run won a corner but Haddows header was just over the bar.
Weir continued to cause problems for the home defence and a good run ended with his shot being blocked, the ball fell kindly for Gary Gow who struck a fantastic left foot drive that was tipped over the bar for yet another corner with a fine save from the home keeper, again the corner found the head of Haddow but again his effort was off target and another chance was lost.
With Carluke thinking they would never get level they finally found the breakthrough they wanted in 84 minutes when a Weir throw in was controlled by Haddow with the ball being laid in to the path of El Zoubaidi who smashed the ball high in to the net for 2-2.
Dunipace rallied a bit after this leveller but could not get anything to trouble Thomson in the Carluke goal and it was in fact Carluke who finished stronger and in to stoppage time Haddow played the ball in to the path of Watt who hit a great shot that took a slight deflection but somehow the home keeper got a hand to the ball to turn it away.
With 95 mins on the clock Martin picked the ball up in the middle of the park and keft defenders in his wake as he headed for goal before being brought down on the edge of the box, with both Weir and Watt lining up to take the free kick it ended up with Weir striking an unstoppable shot that flew in to the Dunipace net for a goal worthy of winning any game.
There was only time for the restart before the final whistle was blown and Rovers won three great points from what looked to be a lost cause with ten minutes left.
Thomson, McCole(Renwick), El Zouibaidi(Biggart), Lowdon, Gow, Vezza, Haddow, Weir, Martin, Cassidy(Browning), Watt.