Cheltenham Town have signed defender Lee Vaughan on a free transfer after he
The 27-year-old, who has signed a two-year deal, made 157 league appearances in four years at Harriers.
Robins manager Mark Yates also swapped Aggborough for Whaddon Road in 2009.
"I've only heard good things about Mark from people at Kiddy. I can't thank the club enough, but there's a time when you have to be selfish," said Vaughan.
"This is a great career move for me and I'm not here to find my feet, I want to be pushing at the top of League Two with Cheltenham."
The full-back was last on the books of a Football League club in 2010, but left Walsall having failed to make his debut.
A spell with AFC Telford United followed before joining Kidderminster.
"I know Mark Yates wants to play with young, hungry lads and has a good reputation of bringing players through from non-league," Vaughan told BBC Radio Gloucestershire.
"I've learnt my trade in the Conference, and now it's time to play at the level where I feel I should be."