Swindon's first goal came after 39 minutes when most other games around the country had already finished, when Danny Invincibile scored from close range.
A minute into the second half Swindon went 2-0 up when Alan Young making a rare start for Swindon was able to make the most of a mix up with the keeper and score into the empty net from just inside the box.
Swindon were barely into their two goal lead when at the other end Melligan was able to pull a goal back after an mix up by the Swindon defence.
Things then started to go badly wrong as seconds later Kidderminister were level when Drewe Broughton was just able to get the ball around the post from an tight angle.
After three goals in as many minutes the rest of the second half was very quiet was both sides having few chances, and so the game went into golden goal extra time.
3 minutes into extra time Invincibile thought that he had won the game for Swindon, but his close range goal was ruled to be offside by the linesman.
Sam Parkin also came close for Swindon, but Kidderminister got a winner at 11.05pm!! just before half time in extra time after Sall headed in from a Kidderminister corner to put Kidderminister into the third round.