A late Ryan Charles strike gave Rushden & Diamonds victory and ended Kidderminster's hopes of making the Blue Square Bet Premier play-offs.
Aaron O'Connor gave the hosts the lead from the spot after Michael Briscoe was adjudged to have handled.
Chris McPhee tucked in Nick Wright's cross from close range to level, only for Charles to pounce on a rebound to win it for the Diamonds.
Harriers' misery was complete when Jack Byrne was sent off for violent conduct.
Rushden and Diamonds manager Justin Edinburgh told BBC Radio Northampton: "I thought we played some excellent football and were worthy of the victory.
"Credit to the players and their attitude when there's nothing (riding) on the games, but an emotional day with Dale Roberts' [goalkeeper who died in December] parents here today, it was a fitting end to a great day.
"Aaron O'Connor probably could have had three or four. His work-rate and leadership are immense but he'll be kicking himself that he isn't around the 20 mark for the season."
Kidderminster manager Steve Burr told BBC Hereford and Worcester: "Without hitting the heights of how we played the other night (against Fleetwood) we've had some really good, clear-cut chances and not put them away.
"That's disappointing as, at this stage of the season, chances like that are golden and we great chances in the first half in particular.
"We got back into it but we knew Fleetwood were winning so it was a question of throwing bodies forward and obviously then you are going to be vulnerable at the back."
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