Les Parisiens were pushed hard at the Stade des Lumieres but an Edinson Cavani brace handed them all three points, as they extended their winning run in Ligue 1 to four straight victories.
With Nice only drawing at home to Bastia earlier in the day, the victory means PSG now sit level with Monaco just a single point behind the leaders.
Aurier admits his side were pushed hard on Sunday and feels their triumph will set them up nicely going forward.
“It was a difficult match against a team that wanted a good result,” he said. “We knew that it would not be easy but in the end we won.
“We started the game well and showed a lot of composure. We scored, which allowed us to take a bit of a breather. We won this game through character. We are happy because it was important to win this evening.”
Dundee United manager Csaba Laszlo refuses to give up on promotion despite a nightmare run in the Scottish Championship.