Two goals in an eight-minute spell early in the second half from strikers Lee Thompson and Luke Reynolds proved decisive.
In reality Accrington were not too bothered about the result on the day as they ended 44 years in non-league football.
They rested several key players at the end of an exhausting title campaign and showed only glimpses of the form that left the rest of the Conference trailing in their wake for most of the season.
That is not to deny Harriers some credit, however, after a bright performance that raised the spirits of their long-suffering fans.
It has been a difficult first season after dropping out of League Two, but manager Mark Yates should draw some optimism from this display.
Having done well enough to preserve Kidderminster's Conference status, he now has the task of spending the summer piecing together a team to mount a challenge for honours next term.
For an hour Kidderminster were much the better outfit and the only surprise was that it took them 48 minutes to get some reward.
A neat passing game brought them plenty of scoring opportunities, but they did not get their noses in front until three minutes into the second half.
Michael McGrath set up the goal with a good run and cross and Thompson steered the ball home from close range.
Eight minutes later Thompson turned provider by pulling the ball back for Reynolds to score, although he had to do it at the second attempt after hitting the right-hand post with his first header.
Accrington at last came to life after sending on top scorer Paul Mullin and busy midfielder Ian Craney just after the hour.
But the nearest they came to cutting the deficit was when Gary Roberts dropped a clever lob onto the roof of the net, and Andy Mangan somehow shot wide after running clear down the middle.