Boss Peter Shirtliff says "We have nothing to lose because it's a cup tie away from home against a club from a division higher.
"But we've played some of our best football against clubs from a higher division and we should be playing on a new pitch with good conditions.
"And if we get the breaks we may get a good result."
Meanwhile Rotherham boss Mick Harford (speaking to the Rotherham official site), is a big fan of the FA Cup "It's the greatest competition in the world there's no doubt about that. I know we aren't going to reach the final but there's no reason why we can't have a good run.
"A win for us is very much overdue but if we play to the best of our ability then we should go into the hat for the next round. But we know it won't be easy as Mansfield have picked up their form since Peter Shirtliff took charge and they have performed well in the Carling Cup this season.
"I will have to make a change or two again because Barry Conlon can't play so Martin Butler will come back again while Lee Williamson is likely to be included in the squad. We staged an 11 v 11 game yesterday for him and he came through well so he will be involved at some time.