Substitute Andy Barcham notched a second-half winner as Scunthorpe started their pre-season run of games with victory.
The first chance of the game arrived Mike Grella's way on seven minutes but he dragged wide a 25-yard right-footed effort.The hosts had their first opportunity in the 12th minute, when Graham Kelly volleyed an effort over the crossbar after the ball had only been partly cleared after a cross come shot.
Both sides continued to have even possession, and Kieran Waters had a couple of half chances.
Grella had another effort from the edge of the box on 30 minutes but his drive from the edge of the area was tipped away by Brian Kane, diving down to his left.
Mark Duffy then came close four minutes later, cutting in on his right foot and curling an effort just wide of goal.
Then, just a minute before half-time, Duffy instigated another move - cutting the ball back for Josh Walker after beating several men down the right, but the ex-Watford man headed straight into Kane's arms.
There was one change at the break, as Barcham replaced Duffy.
They started the second half well too, as Walker sent a shot wide soon after the interval, followed by Robbie Gibbons' 25 yard drive which also drifted past the post.
The deadlock was broken in the 57th minute however when Barcham jinked into the box, kept his cool and evaded three challenges before planting the ball into the bottom corner of the goal.
A raft of substitutions were made on the hour mark as all the squad apart from Niall Canavan, Damien Mozika and long-term injury absentee Michael Collins received a run-out.
Matt Godden, one of the substitutes, hit the post with a close range effort on 78 minutes as Scunthorpe tried to double their advantage.
Then, moments later, Isamil Akinde did well to break and fired a shot towards goal, but Sam Slocombe pulled off a fine save.
With six minutes left, Jennings tried to lob Brian Kane from the edge of the box, but could not get it on target.
The hosts pressed for a leveller, as Seam Houston connected well in the box, but he sent the ball straight at the goalkeeper.