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The game didn't start well for the Stags when they fell behind in the first minute to Stuart Roberts' debut goal.
Roberts latched on to a long free-kick which was fired deep into the hosts half and with his first touch in a Harriers shirt he lobbed keeper Kevin Pilkington.
But Larkin levelled things up in the 16th minute when he slotted past John Danby after good work from Joe O'Neill.
Micky Mellon fired wide for the visitors from 30 yards before ex-Kidderminster star Adam Murray's vicious strike forced a good save out of John Danby.
O'Neil then shot over the bar on the turn after 32 minutes before Larkin put Mansfield ahead just after the interval.
In a near identical goal to the visitors' opener, the Harriers old boy lobbed Danby with a fantastic overhead kick following Pilkington's long ball up field.
Larkin and Derek Asamoah both forced good saves out of Danby, who was certainly the busier of the two keepers, before Frederic Advice-Desruisseaux went down in the area leaving Kidderminster boss Jan Molby screaming for a penalty.
However nothing was given by the referee and Mansfield continued to dominate with another ex-Harrier Neil Mackenzie twice coming close to scoring.
A 71st minute scramble in the box saw Larkin, O'Neil and MacKenzie all come close but nobody appeared to be able to kill off the Harriers and Advice-Desruisseaux forced another good save from Pilkington.
In injury time Larkin hit the post and Asamoah forced Danby to make two excellent saves on the rebound before the visitors could clear their lines.
But Mansfield held on to secure victory and send Kidderminster home empty handed.