Mark Beck's 82nd minute header secured a third pre-season win in a row for Town at the expense of a well-drilled Guiseley side.
Simon Weaver made seven changes from Friday night's victory over Darlington, with only Warren Burrell, Joe Leesley, Connor Hall and Scott Brown remaining in the starting XI.
George Thomson registered the first shot after 11 minutes, but couldn't work Guiseley's Trialist 'keeper with his left footed effort, while Aaron Martin will have hoped to have done better with his finish when played through by Gabriel Johnson, despite the close attentions of Burrell.
The first save of a drab first half came five minutes from time when Dylan Barkers tried to squeeze a header inside the near post, but couldn't beat Joe Cracknell.
Guiseley then created the best chance of the half in the 42nd minute, Martin breaking away down the left and getting the ball to Kaine Felix in space, though the winger could only find the side netting.
Chances remained few and far between in the second half, with Brendan Kiernan almost making a breakthrough in the 80th minute, latching onto Mark Beck's sumptuous flick, but being fouled before he could reach the goal.
The two combined for the only goal of the game two minutes later as Kiernan delivered a cross towards Beck, who headed into the bottom left corner to seal a third pre-season win in a row.
Harrogate Town: Cracknell, Fallowfield, Howe (W Smith 60), Burrell (Falkingham 45), Thomson, Jones (Beck 45), Leesley (Kiernan 45), Kerry, Muldoon (Woolford 45), Hall, Brown
Goals: Beck 82
Guiseley: Trialist, Cantrill, Trialist, Barkers, Bencherif, Garner, Felix, Spencer, Martin, Trialist, Johnson
Subs not used: Macanally, Lambton, Digie, Thornton, Hussain, Smith, Starrenko, Clayton, Newall, Jones