Video: Lincoln 1 Kidderminster Harriers 2

Harriers interim manager Colin Gordon enthused at his side's triumph, saying: "I told them at half-time that I don't know what they fear.

"I believe in them absolutely, so why have they got this fear?

"We controlled the game and showed that we are a good team – if we had this team from the start of the season we would not be in the position we are now.

"We are standing on the precipice, we know that, it is either going to happen or it's not, but there is nothing to fear.

"You've got to be professional, do the job and be as tough as them, then you've got to be brave."

Gordon viewed his team's performance from the elevated position in the directors' box for the first-half.

They moved back to the dugout during the second period and witnessed a deserved victory for the league's basement club.

Harriers trailed to Muldoon's 28th-minute strike from the edge of the box after Matt Rhead had picked him out with a downward header from a Terry Hawkridge cross from the right.

But the visitors created opportunities, Ben Whitfield and Arthur Gnahoua going close to levelling the score before the interval.

Gordon introduced McQuilken for Evan Garnett after the break. He said: "Evan is not a target man and we struggled to support him in the first-half. So we switched it."

The eager McQuilken set up Whitfield whose lack of composure saw his effort fly high and wide, before the substitute fired off shots either side of Paul Farman's goal.

Harriers were enjoying plenty of possession and Gnahoua forced Farman to turn aside a 57th-minute drive.

Farman then saved from Whitfield after Lewis Kinsella picked out the striker with a deep cross, as Harriers started to make inroads.

On 72 minutes, Kidder were level. They were awarded a free-kick and McQuilken curled a 30-yarder around the wall and beyond Farman.

Seven minutes from time the substitute headed home from close range – his first ever headed goal – to take all three points after Farman had blocked Whitfield's angled low drive.

It was the first time this season Harriers had come from behind to win but they were indebted to debutant goalkeeper Max O'Leary, signed on loan from Bristol City.

He blocked a Chris Bush effort in time added on and recovered to prevent Muldoon from putting away the loose ball.