Two goals from Jack Byrne ensured Kidderminster saw off Blue Square Bet Premier strugglers Bath and kept the pressure on the top five.
Harriers took the lead when Romans keeper Jason Matthews could only parry Anthony Malbon's shot into the path of Byrne, who slotted in.
Byrne doubled the lead soon after the break with a superb 25-yard strike.
Sean Canham set up a nervy finish, when he swept in Chris Shephard's pass, but the play-off chasing visitors held on.
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Kidderminster Harriers assistant manager Gary Whild told BBC Hereford & Worcester:
"I thought we totally dominated the game from start to finish, and if it wasn't for the missed chances it could've been four or five.
"We were comfortable but we need to be a bit more ruthless in both 18-yard areas.
"Considering we've all been disappointed by a dip in form, we certainly have our destiny in our own hands now."