Second-half goals from Stuart Thurgood, Sam Sloma and Barry Cogan helped Grays bounce back from four straight league defeats to beat Kidderminster.
Thurgood struck with a low 20-yard shot, but the visitors hit back when Justin Richards pounced from 12 yards.
Sloma converted Ishmael Welsh's cross and Cogan swept home from inside the box to put Grays in control.
But Kidderminster striker Matthew Barnes-Horner's 89th-minute close-range effort made for a grandstand finale.
Grays Athletic: Flitney, Wilnis, Ashton, Stuart, Sloma, Ide (Taylor 68), Molesley (Cogan 61), Elliott, Thurgood, Campana (Welsh 46), Kedwell.Subs Not Used: Arnold, Gier.
Booked: Stuart, Welsh.
Goals: Thurgood 54, Sloma 68, Cogan 72.
Kidderminster: Bartlett, Lowe, Creighton, Jones, Baker (Bennett 81), Brittain (Knights 72), Ferrell, Penn, Smikle, Barnes-Homer, Richards.Subs Not Used: Coleman, McGrath, McDermott.
Booked: Baker.
Goals: Richards 59, Barnes-Homer 89.
Att: 525.
Ref: G Sutton (Lincolnshire).
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