McAuley was given a chance to impress after coming on at half-time for Scott who was guilty of the mistake for Hull's second goal.
Williams moved back to centre-half with McAuley taking his role in midfield.
The visitors went on to dominate the second half although Hull did have a brief promising moment five minutes in.
A long ball out of defence caught out the back-line of Harriers but Walters control let him down when he was free on goal.
Melton shot wide 53 minutes after Walters had dispossessed the otherwise impressive McAuley.
The half-time substitute lifted a free kick over the bar on 59 minutes after Broughton was fouled in the air, leaving Hull defender Joseph needing lengthy treatment. Drewe Broughton
Harriers gained their reward for some crisp passing football with a goal on the hour mark.
Henriksen robbed the defender on the left and his cross was only half cleared by keeper Fettif under pressure from Broughton, allowing Parrish to thump home a fine volley from just inside the box.
Hull made a substitution on 64 minutes with youngster Burton on for Joseph.
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