EX-HARRIERS loan man Colin Larkin fired home the winning penalty to lead Mansfield into the Division Three play-off final.
Midfielder Neil MacKenzie, who also had a spell with Kidderminster, was on target as well in the shoot-out against Northampton.
Mansfield will now face Huddersfield on Monday with the winner joining Doncaster, Hull and Torquay in Division Two.
Wycombe, Rushden, Notts County and Grimsby have all been relegated to Division Three, while Chester and Shrewsbury rise from the Conference.
With Carlisle and York dropping out of the division, there will certainly be less travelling for supporters next season.
Fans are likely to particularly look forward to meeting rivals Rushden again and facing old Conference foes Wycombe.
Attendance figures will also be swelled by the games with Chester, Shrewsbury, Notts County, Bristol Rovers, Yeovil, Swansea, Oxford, Northampton and Cheltenham.
The new fixtures are set to be released on Thursday, June 24, and Harriers open their pre-season friendly programme at Cinderford, managed by new business manager Phil Mullen, on Wednesday, July 14 (7.30pm).
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