Goals from Callum Gittings and Chris McPhee lifted Kidderminster out of the relegation zone and left Altrincham stranded at the bottom of the table.
Substitute Gittings was only on the pitch four minutes when he placed his left-footed effort past James Coates.
Damian Reeves levelled for the Robins as he broke free of the defence to fire home from 12 yards out.
But Harriers won it when McPhee scored from the spot after James Smith was penalised for handball.
Kidderminster manager Steve Burr told BBC Hereford and Worcester: "I couldn't see whether it hit his hand or not (for the winning penalty) but I said last week about decisions evening themselves out.
"We were disappointed by a couple of decisions, not just in the Tamworth game but against Newport as well.
"So it was nice to see a major decision go our way today."
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