The 8th placed League Two club will travel to Princes Park on November 3 and it's into the unknown for one of the Premier League's founder members.
Swindon, though, say they will be ready for the challenge on the Vanarama National League South title chasers in the next round and are all too aware of how up for the tie Tony Burman's team will be in a few weeks' time.
"Dartford are doing quite well in the league so it will be a tough game away from home, but one we're looking forward to," assistant manager Ben Futcher told Swindon Town's official website.
"Our away form has been good so when it comes round we'll be ready for it.
"Everyone loves The FA Cup. The away form has been good but we'll give them full respect as we do with all of our opposition and we'll go there looking to progress to the next round.
"The early rounds are tough because the non-league sides can be banana skins and it will be a tough match, but we'll prepare as we would for a league game and we'll go there looking to win."
But first Dartford have a number of league fixtures, starting with this weekend's tricky match at home to fellow promotion hopeful Chelmsford City.
For more news, reaction and action from across the National League, like us on Facebook and follow us on Twitter and Instagram.
PHOTO BY ED BOYDEN