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Published 21:55 19 Jul 2018 BST
Updated 21:59 19 Jul 2018 BST
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Patrick Hoban opened the scoring for the Lilywhites and the Estonians got a goal back just before half-time, but Kenny's team held on for the win.
They'll play Cypriot side AEK Larnaca in the next round.
Here's Duffy's goal:
https://twitter.com/RTEsport/status/1020030016678256643
Earlier in the night, Shamrock Rovers suffered heartbreak in their Europa League tie against Swedish side AIK.
Rovers were trailing 1-0 from the first-leg but managed to reduce the deficit and take the lead in Stockholm through Daniel Carr.
https://twitter.com/eirSport/status/1019996080224784387
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