Ilkeston Town denied by width of both posts
They came close to tying the match at 4-4 with eight minutes left but suffered the agony of seeing the ball clip both posts. Then the Harriers raced to the other end and settled this second round thriller.
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"I don't like losing and the lads don't like losing but we lost in the right manner, to a good Conference side in a good game," said left-back Hurst.
And Scott, who is sharing the care of the squad, added :"It feels almost like a victory. Our effort and commitment was unbelievable."
They saw the Robins begin well, only to go two goals adrift after 20 minutes against the full-timers.
First, Justin Richards lobbed home a goal from an improbable range and angle in 18 minutes.
In a blur of speed, he then swapped passes with Brian Smikle who slotted the ball home as two defenders arrived.
Ilkeston were down but not out and Tom Cahill scored from a low cross by winger Sam Duncum after 27 minutes.
When Richards was pulled back in the 52nd minute, winger Martin Brittain found a way of getting his free kick round the Ilkeston wall and into the net.
Ilkeston responded with a goal out of the top drawer. Midfielder Neal Hooks spotted the run of debutant Marc Newsham, who has just arrived on loan from Rotherham United. The striker did not bother to adjust his stride as he volleyed the ball into the net on the hour.
Russell Penn surged out of the Harriers' midfield to score in the 68th minute. Keeper Chris Adamson saved his first effort, only for the ball to bounce back to him.
The home side refused to buckle and Cahill headed them back into contention after 75 minutes when Hurst picked him out with a cross from the left.
On came former Notts County youngster Anthony Howell and he beat keeper Adam Bartlett with a shot from wide on the left.
The ball hit the base of the far post and bounced against the foot of the near post as midfielder Ben Pringle tried to force it in.
Before you could yell "bad luck," the ball was on its way upfield for Stefan Moore to lob it home with seven minutes left of a helter-skelter game played in good spirit, with hardly a foul and no bookings. The only disappointment was the poor gate for such illustrious visitors, who attracted an attendance of 2,349 when they visited Ilkeston in the same competition 14 years ago.
Kidderminster manager Mark Yates, who played in that drawn game, said: "Ilkeston had a real go, particularly in the second half."
Ilkeston: Adamson, Church, Hurst, Hooks, Haggerty, Murphy, Istead (Thompson 90), Pringle, Cahill, Newsham (Douglas 73), Duncum (Howell 73). Unused subs: Wild, Haystead.
Referee: P Tierney (Wigan).
Attendance: 401.
Marc Newsham celebrates his goal
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