"The FA Cup means a lot to me because I have played in the lower leagues and know what it is like to go through all the early rounds to get to the third and maybe draw a big club," said Simpson to the CT.
"Now I am at a reasonably big club and it is still a great occasion. We all saw what Cardiff did last season and we have all got to aspire to that.
"I played against Kidderminster a few times. They are a good team and are doing well in the Conference which I keep an eye on. "They have the ability to cause us problems so we have to be aware of that.
"They beat my old team Cambridge United in the Cup this year and I have spoken to a few of the players back there and about them and they say they are a decent team.
"So we have to be at our best and if we play anywhere near our potential then I am sure we will be alright."
Tickets are on general sale priced at £16 for adults and £10 concessions.