Harriers were leading 1-0 at the interval, but allowed The Stags to hit back in dramatic style with two goals from Richie Barker and one from Simon Brown.
It ended disappointed Kidderminster's impressive sequence of six games without defeat.
The game burst into life shortly before half time when Harriers went ahead and then missed a penalty.
They broke the deadlock in the 41st minute when Tom Bennett intercepted a stray pass from Alex Baptiste and laid the ball perfectly into the path of striker Mark Rawle who powered an angled 15-yard drive past helpless keeper Kevin Pilkington.
Pilkington was then the centre of attention a minute later when he brought down Chris Beardsley just inside the box.
Referee Lee Probert immediately pointed to the spot and after Pilkington was shown the yellow card midfielder Dean Keates hit the penalty kick harmlessly wide.
It proved a costly miss for Kidderminister who earlier in the first half had survived a couple of scares.
On nine minutes Adam Rundle was muscled off the ball by Mark Jackson while racing towards goal and then ten minutes later Brown was thwarted by an excellent save by young keeper John Danby.
Brown, who had a spell on loan at Aggborough earlier in the season, also went close on the turn on the strike of half time.
Disaster struck for Kidderminster, however, when Mansfield blasted two goals in three minutes just after the break.
The first, in the 48th minute, was the result of a poor pass by Wayne Hatswell which gave Brown the chance to knock the ball through to Barker who coolly beat Danby.
The Stags then made it 2-1 when Brown beat the offside trap to finish off a chance created by Barker.
Mansfield substitute Andrew Barrowman had an effort knocked off the line by Simon Weaver before Barker killed Kidderminster off in the 85th minute by heading in a corner from Rundle.