Having trailed to Aaron Ramsey's first-half opener for much of the game, Harry Kane levelled from the spot before the Gunners were awarded their own penalty in the 90th minute.
Meanwhile, Arsenal manager Unai Emery suggested that video assistant referees (VAR) could not be introduced to the Premier League soon enough, after his side's incident-packed 1-1 draw with Tottenham Hotspur in the Premier League on Saturday.
Lucas Torreira was handed a straight red during added-on time as Spurs maintained their four-point advantage over Arsenal in third position.
Spurs were proving to be a match for their fierce rivals at the quarter-hour mark, but Arsenal went in front shortly afterwards after Kane had squandered a shooting chance at the other end.
Kane converted that penalty but video replays showed that the England striker had actually been offside when he was fouled. It was tough because to concede after 15 minutes was tough for us.
First he kept out Christian Eriksen's first-time effort from eight yards with his feet and, with everyone waiting for the net to ripple as the rebound fell to Moussa Sissoko, the keeper then pulled off an instinctive reflex save with his left hand.
Here, Press Association Sport takes a closer look at how Spurs boss Mauricio Pochettino and Arsenal head coach Unai Emery fared.
While Spurs coped pretty well in Kane's absence, they did exit the League Cup and FA Cup at the end of January without their star man.
"It was a fantastic game, exciting game with great atmosphere with two teams that wanted to play and win the game".
The Tottenham defender was nearly level with Aubameyang as he struck the ball which meant he was also able to run back and block the Arsenal forward when he tried to turn in Alex Iwobi's cross from Hugo Lloris' parry.