Gemaal Hussain became his third victim to a leg sidecatch by wicketkeeper Paul Harrison and when Jon Lewis edged Brooks through to Harrison the hosts were 190-9.
The batting of Maddy and Westwood put the team's earlier efforts into perspective and it took a good leg-side catch by Geraint Jones to separate them as Westwood went for 47.
It brought in Lara, who took a single off Illingworth before flapping at a ball from Stuart Lampitt and edging a leg-side catch to wicketkeeper Steve Rhodes - a repeat of his first innings dismissal by Kabir Ali.