Striker Shayne Bradley snatched an early winner as the Imps bounced back after two consecutive defeats.
City found it difficult to get going against a hard-working Harriers team but just about deserved to take the points.
Bradley, on loan from Chesterfield, twice went close before his 15th minute goal which proved to be the winner.
Chris Cornelly set up the chance with an excellent run down the left before whipping in a shot which Harriers keeper Fraser Digby could only push out.
Bradley was first to react as he swept the ball home with his left foot.
Eight minutes later Lincoln could have gone further in front when midfielder Richard Butcher got behind the Harriers defence but hesitated inside the box allowing Danny Williams to get back and tackle him.
Kidderminster ventured forward in the 28th minute when Williams tried to chip the keeper with a long-range shot but Alan Marriott saved under his own bar.
Kidderminster had a let-off two minutes before the break when Digby came off his line but failed to reach a Paul Mayo free kick.
Ben Futcher headed towards the empty net only for Craig Hinton to clear off the line.
Mayo caused plenty of problems for Harriers with his surging runs down the left flank and went close to his first ever League goal in the 59th minute.
His thunderous shot from 25 yards left Digby well beaten but the ball smashed against the underside of the bar before bouncing clear.
Digby saved his team when he managed to push away a shot from Lincoln substitute Simon Yeo after his defence was again caught out.
But Harriers fought back in the closing stages when they laid siege to the Lincoln goal.
They should have equalised three minutes from time when defender Adie Smith set up Drewe Broughton but the striker sent his shot straight at Marriott.
Harriers defender Lee Ayres was stretchered off in stoppage time after being caught by a late tackle from Daniel Webb which earned the Lincoln man a yellow card.