Both teams could have scored within three minutes of the second half starting in an eventful opening.
Firstly, Lincoln's P Smith, looking suspiciously offside, raced onto Yeo's through ball but Brock did will to parry the midfielders efforts on 47 minutes.
A minute later, Stamps struck a superb 30-yarder which keeper Marriott did well to flick over the bar.
Lincoln defender Logan was booked on 53 minutes for dissent before Harriers forced an equaliser.
Parrish sent over a fine free kick from the right and Henriksen met the ball with a superb flying header on 59 minutes to make honours even. Bo Henriksen
Lincoln received two yellow cards in the space of two minutes as the home side upped the pressure.
Keeper Marriott went into the referee's notebook on 65 minutes after saving the ball at Bennett's feet only for his momentum to carry him out of the box.
Yeo was booked soon after for retaliation against midfielder Bennett.
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