Striker Marcus Richardson hit a last gasp equaliser to save Lincoln from defeat.
Richardson struck two minutes from the end when he bundled home an attempted Harrier's clearance.
The goal gave the Imps a point they deserved after another one of their traditionally poor home peformances. They began in lively form with leading scorer Gary Fletcher having an effort blocked by Harriers defender Wayne Hatswell after keeper John Danby was left stranded.
An atrocious clearance from centre back Adrian Viveash set up Lincoln's Francis Green in the tenth minute but the striker put his shot wide. Then Green saw a first time effort held by Danby.
Lincoln had a great chance to go in front after 20 minutes when Fletcher set up Richardson for the big striker delayed his shot and the opening was lost.
Harrier's went in front in the 46th minute when Simon Brown, making his debut for Harriers, collected a stray Lincoln pass and raced clear to net an easy goal.
Almost immediately Lincoln boss Keith Alexander pulled off midfielder Ben Sedgemore replacing him with an extra striker.
But Kidderminster should have sealed the points in the 51st minute when Ian Foster chose to shoot instead of a simple pass to Brown who was in the clear.
Lincoln went close to an equaliser in the 61st minute when Ben Futcher beat Danby with a header only to see his thunderous effort strike the bar.
Yeo and Futcher both went close but Kidderminster had another easy chance in the 74th minute when a mistake by Kevin Ellison left Brown in the clear but the winger's shot was superbly held by Lincoln keeper Alan Marriott.
12 minutes from time Francis Green picked out Fletcher but the striker shot over from close range after some clever twisting and turning created an opening.
Fletcher had another half chance seconds later but scooped his shot over the bar.
Lincoln became increasingly desperate before Richardson finally equalised with his ninth league goal of the season. The result sees City stay in 6th place as Yeovil and Mansfield shared a 1-1 draw.