The Ascot-born star stepped off the bench to bundle home from close range in the 85th minute at Glanford Park.

Royals lived dangerously at times in the second-round clash until Taylor’s strike sent them through.

It was the 22-year-old’s second goal of an increasingly impressive season following his winner against Ipswich Town in the Championship earlier this month.

And it ended a run of back-to-back defeats for Nigel Adkins men on his return to the club he led to incredible success.

Adkins made three changes to the side that was thrashed 4-0 at Nottingham Forest in the league on Saturday and handed full debuts to Jake Cooper, Craig Tanner and Jamie Mackie.

It was centre-back Cooper’s first start for the senior side while Mackie was named up front after the conditions of his loan move from Forest had denied him a return to the City Ground.

Adkins also named Mikkel Andersen on the bench ahead of Alex McCarthy, fuelling rumours of a possible £6 million switch to Queens Park Rangers before the transfer window closes this Sunday.

But it was injuries which looked to be Reading’s biggest concern with 11 first-team players ruled out of the Glanford Park clash.

Jordan Obita became the latest to join that list when he limped out of the heavy Nottingham Forest defeat and the youngster joined Michael Hector, Stephen Kelly, Anton Ferdinand, Danny Guthrie, Jem Karacan, Garath McCleary, Aaron Tshibola, Danny Williams, Pavel Pogrebnyak and Hal Robson-Kanu on the sidelines.

In addition, recent Huddersfield Town signing Oliver Norwood was cup-tied, leaving Adkins’ resources stretched to the limit.

Royals’ boss got a rousing reception from the home fans, having won two promotions in four years as boss of the Iron.

But the home side were not so welcoming as a booking for Gary McSheffrey for a foul on Shaun Cummings in the opening minute signalled their intentions.

Only a terrific save from Adam Federici prevented Paddy Madden from giving Scunny the lead on 11 minutes before Nick Blackman went close with Reading’s first real effort.

The home side began to grow in confidence with Madden’s angled shot deflecting for a corner and McSheffrey heading over the crossbar at the back post.

And Federici was forced to make another brilliant save to stop Madden’s long-range free-kick from flying into the net 10 minutes before the break.

Mackie did threaten for Royals with a header that was blocked from Cummings’ cross, but it remained goalless at the interval.

Royals, though, improved after the break and Tanner tested Bobby Olejnik from distance then Blackman did the same soon after.

Niall Canavan and the lively Madden replied for the Iron before Royals saw a penalty claim turned down for a foul on Simon Cox on 65 minutes.

However, the home side should have gone ahead in the closing stages only for Neal Bishop to fire over from point-blank range before Madden’s shot deflected narrowly wide off a Reading defender in the 83rd minute.

And two minutes later Royals grabbed the winner when Taylor stabbed home after Pearce’s nod-back from a Blackman flag kick.

The draw for the Capital One Cup third round takes place tomorrow.

Scunthorpe: Olejnik - Nolan, Addison, Canavan, Williams, Hawkridge, Bishop, McAllister, McSheffrey, Adelakun (Wootton 88), Madden. Subs not used: Weaver, Dawson, Sparrow, Taylor, Featherstone, Llera. Booked McSheffrey (1).

Reading: Federici - Gunter, Cummings (Long 46), Cooper, Pearce - Akpan, Kuhl, Tanner (Edwards 73), Blackman - Cox, Mackie (Taylor 73). Subs not used: Andersen, Griffin, Fosu, Stacey. Booked: Taylor 85.

Referee: Kevin Wright (Cambridgeshire).

Attendance: 2,657 (Reading 219).