Steven Crook drove Taylor straight to Grant Hodnett at long-off, Panesar completed his pair when he edged behind and Lucas also fell for a duck, while Carl Greenidge claimed the final wicket by trapping Johan van der Wath lbw for 15.
Northern Ireland manager Nigel Worthington made four changes for the game with Steven Davis, Lafferty, Gareth McAuley and Grant McCann returning to the line-up.