In a frantic opening five minutes, Dean Winnard gave Stanley the lead, heading Charlie Barnett's corner after being left unmarked.
But it was Winnard's mistake at the other end which gifted Rotherham an equaliser just three minutes later. His backpass went beyond goalkeeper Ian Dunbavin and Nardiello was there to pounce for a simple tap-in from three yards.
Stanley midfielder Rommy Boco came close to adding to the score minutes later but his 20-yard effort was cleared off the line by Johnny Mullins, while Padraig Amond was a threat for Stanley but could not convert a number of half-chances.
Nardiello got his second three minutes after the break in scrappy circumstances. His drilled effort from the left across the goalmouth could not be kept out by Dunbavin and deflected in off a Stanley defender.
Stanley made all three substitutions during the second half and pressed without testing goalkeeper Andy Warrington, while Michael O'Connor's 20-yard free-kick after 80 minutes forced Dunbavin into a superb save to prevent a bigger scoreline.
Courtney Cameron also came close for the Millers with a blistering strike in injury time that flew over the top.
Source: DSG