The Robins began brightly with Kyle Fish coming close before Charlie Clamp stung the palms of Jody Barford from distance.
Selby then took a deserved lead when Dan Davison found the net with a neat finish.
The Zebras reacted well to going a goal down equalizing through Jack Richardson, who latched onto Josh Batty’s pass before firing home.
Afterwards, Batty was denied by a good save from Jamie Hassell on the stroke of half time.
Brigg picked up where they left off in the second half with Owen Vincent and Batty firing inches wide. The former was also denied by Hassell at full stretch.
The Zebras kept going with Luke Sellers shooting narrowly off target. However, it was Selby that almost bagged an injury time winner with Harry Clapham forcing Barford into a great stop towards the end.
Both sides had their moments, but neither could find a decisive goal so the points were shared.