The result was a long, long way from as comfortable as United's 5-0 thrashing of the Reds back in October and a late home goal meant a nervy ending for the travelling Ducks.
Both sides had a number of good chances in the fist half, but both keepers were in good form making a number of saves.
Throughout the first half Willenhall had a number of goalmouth scrambles from Sean Platt's dangerous corner kick deliveries, the first of which was eventually cleared in the third minute.
Aylesbury responded with by proving an early threat themselves, Faulkner in down the right lashed a shot goalwards which was well turned around the post by Williams.
Williams made another good stop two minutes later to deny Nathan Graham this time after his effort had looped up off a defender at pace requiring an acrobatic tip over.
Graham went close again on nine minutes when he raced onto Vincent's long punt downfield but got his angles wrong with a lobbed effort that dropped over the bar.
Platt was a real dangerman for the home side with his crossing ability, and he picked out Tyrone Barnett with another pinpoint delivery ? the big striker really should have done better but the ball skimmed off his head and wide.
A mis-control in the area by Ben Gallant let Platt in again and this time he tried for goal himself, but slashed his shot well wide of the target.
A number of corner kicks continued to cause the Ducks problems, and on more than one occasion they had the poor state of the pitch to thank for keeping the scores level as the ball simply stuck in the mud in front of goal.
Vincent made an excellent save on the half hour to deny a fierce drive from Azariah O'Garro after another of Platt's set plays had only been half cleared to him, and from the resulting corner Aylesbury's stopper did well to get rid after another mad scramble.
The game continued in ?tit for tat' manner and Aylesbury this time pressed for an opener. Faulkner cut in from the left before cracking a shot towards the far post which Richards did superbly to tip wide.
The half was rounded off by another save from Richards who stood up well to beat away Faulkner's effort, which had been straight down the middle of goal as he shot on the turn.
Half-time: Willenhall 0-0 Aylesbury
Willenhall started the second period strongly and should have been ahead after 30 seconds. Craig Gregg found himself with only Vincent to beat, but hit an awful lob wide.
A well struck free kick by Scott Stevenson called Vincent into further action, as he turned the ball over the bar, but the Ducks survived the early onslaught.
Aylesbury were then gifted a lead nine minutes into the second half. In customary style Faulkner cut inside and went for goal where a Willenhall player stuck out his arm and committed a blatant handball; Faulkner easily converting the penalty. 1-0 Aylesbury
On balance of play the home side had reason to feel hard done by, but they had been guilty of not taking their chances and ultimately paid the price.
And the theme continued as Stevenson connected well with a volley, but failed to hit the target, and a long ball forward was headed straight at Vincent.
To Willenhall's disbelief things were to get even better for the Ducks. After a number of disappointing first half corner kicks, Peter Weirich finally got one spot on and Ross Taylor popped up at the far post to nod home. 2-0 Aylesbury
The home side were in disarray and Faulkner came within inches of making it three when he broke from within his own half, sprinted away from the defence before striking a low shot that agonisingly rebounded off the inside of the post.
As the game wore on Willenhall's play was growing increasingly desperate, as more often than not balls were being pumped hard and long towards the strikers. Indiscipline was also creeping into their game, three players being booked in a ten minute spell.
United went close again when Graham's unconventional free kick effort had to be tipped over by Richards.
A mistake by Weirich nearly let a home player in to score, but the Aylesbury full back recovered his position well to get himself in the way of the shot.
Still Aylesbury could have added to their score, Faulkner volleying over and Gallant hitting a superb curling effort which was matched by the save from Richards.
With five minutes remaining and victory seemingly assured, disaster struck for the Ducks. Another hopeful long ball from Willenhall caused a misunderstanding between Vincent and Nick Leach, and the ball dropped to Barnett who was left to roll the ball into the empty net. 2-1 Aylesbury
Although the goal suddenly gave them renewed belief, there was little genuine attacking threat to back up the new found intent, as aimless long ball after long ball was thrown forward and the Reds strikers were consistently being caught offside.
In the end it was a comfortable end to the game for United's backline, who are certainly at their best when cutting out such balls, and it was Aylesbury who took all three points.