Ainsworth introduced himself as a 50th-minute substitute and played his part in Sam Wood's 76th-minute leveller, before crossing for Matt McClure to smash in Wycombe's 81st-minute winner.
The win ended Wycombe's three-match losing streak and condemned Torquay to a seventh successive defeat.
"I said for them to do exactly the same things as they had done in the first half," said Ainsworth. "I promised them if they did that we would win the game.
"In the first half we really took the game to Torquay for the first 30 minutes. We totally dominated from the off.
"Alan Knill has got them very organised and they are a better Torquay than they were previously, but I told my boys at half-time to keep believing.
"I was so pleased that they continued to do the right things, and the things we work on in training and that has got us success so far.
"It's a sweet result away from home, especially considering we were 1-0 down, and it reverses the Southend result, so it was fantastic and hopefully we are back on the road now.
"I am just so proud of the boys and pleased for everyone who made the trip down for us, because they were fantastic as well.
"We play together, we win together and we celebrate together and the spirit here is fantastic."