Within 2 minutes Gillingham had taken the lead. After a free kick from just outside the box was headed in by Garry Richards.
Swindon had a few chances to equalise, but hit the bar wide a couple of times.
Jerel Ifil had to be taken off injured, and was replaced by youth team player Sean Morrison.
Most of the remaining game was uneventful with both sides having half chances, but unable to find the back of the net.
On 88 minutes Aljofree equalised for Swindon from close range, and looks like he may be set Gillingham down. They now need to beat Leeds next week, and hope that Cheltenham and Bournemouth both lose to stay up. Meanwhile Swindon's final game of the season is at home to Millwall who are now safe in League One.