Finnigan made 252 appearances for Town in just over seven years
Kidderminster will complete the signing of Cheltenham midfielder John Finnigan on a two-year deal on Saturday.
The transfer-listed 33-year-old has agreed a settlement on the last year of his contract with the League Two club.
He told BBC Gloucestershire: "I had a discussion with the manager at the end of the season and he basically told me I wouldn't be playing regularly.
"I don't expect an automatic place but at the same time I don't want to be sitting in the stands."
Finnigan will link up with two former team-mates who are the management team at the Blue Square Premier club - Mark Yates and Neil Howarth.
"Things did get to a stage where I just wanted it sorted out so I can start a new chapter in my career.
"I'm pleased it's done now. I'll miss a lot of people and leave a lot of good people behind but hopefully now I can be successful at my new club," he said.
Yates told BBC Hereford and Worcester the arrival of Finnigan would add both experience and quality to the Aggborough club's midfield.
"I played with Finners for a couple of years and he is a fantastic player who will be great to have around," he said.
"He is a professional and will be a great addition to the squad.
"We have got a lot of youngsters in the squad so the experience that Dean Bennett, Chris McPhee and hopefully John can bring will stand us in good stead."
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