Forest Green scored their first goal under new boss Dave Hockaday as they secured their fourth draw in a row.
Harriers took the lead when midfielder Chris McPhee put them ahead with a low shot from inside the area.
Matthew Barnes-Homer went close to doubling the lead but could only put his right-foot volley over the bar.
But, after having a shot cleared off the line, striker Sean Rigg levelled the scores by latching onto a long ball and firing past keeper Dean Coleman.
Forest Green manager Dave Hockaday told BBC Gloucestershire:
"Kidderminster were the cleverest and quickest side we have come across. We had to give the boys a lot of information at half-time.
"We changed to counter them, got our goal and could have won but we wouldn't have deserved it.
"We can't ignore the first half. Kidderminster gave us a lesson of how to play a narrow formation and we struggled to cope with it.
"We're unbeaten in four games. It's four drawn games but we're building slowly and I think in the second half the fans could see what what we were trying to do."
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