Finnigan, 33, will be assisted by captain Chris McPhee following the departure of Mark Yates.
BBC: Finnigan takes over as Kidderminster temporary boss.
Andrew, 19, impressed in a 10-game spell on loan with the Robins last season having also played under manager Mark Yates at Kidderminster.
BBC: Cheltenham Town sign Peterborough United's Danny Andrew
Finnigan will link up with two former team-mates who are the management team at the Blue Square Premier club - Mark Yates and Neil Howarth.
BBC: Harriers to tie up Finnigan deal
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