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O'Grady got to a rebound sharply and fed Ryan Taylor who beat the home 'keeper with an angled shot to open the nights proceedings.
The home side levelled matters when Andy Ring found space to beat Cann with ease, but Taylor (pen) and O'Grady's pinpoint header into the top right hand corner from Steve Brogan's left wing cross gave them a 3-1 interval cushion.
The second half was more subdued, but Taylor completed his hat-trick shortly after the break before an influx of youthful substitutions by Mark Robins.
Steels netted a consolation effort with a penalty of their own after a foul by Jamie Green but the Millers ran out comfortable winners infront of a crowd thin on numbers on a chilly evening.
Millers starting line up: Cann, Yates, Fleming, Mills, Brogan, King, Simon Harrison, Green, Taylor, O'Grady, Duncum.