Galloway finished with 14 points and Bembry had 13. Ronald Roberts, Jr. added 9 points and 15 rebounds for Saint Joseph's (9-4).
Denver (7-8) started strong, leading 16-8 midway of the first period, and held a 25-23 halftime lead. Halil Kanacevic started the second half with a layup and Bembry made two free throws to put Saint Joseph's ahead 27-25. Denver retook the lead 28-27 on free throws by Chris Udofia and Cam Griffin.
Bembry made a 3-pointer and a layup and the Hawks led 34-30 at the 15:14 mark. Denver stayed close and only trailed 51-49 with 2:06 remaining following two free throws by Udofia. Chris Wilson made two free throws with seconds remaining to seal the victory for the Hawks.
Jalen Love led Denver with 20 points.