Norfolk State (16-9, 9-1 Mid-Eastern Athletic Conference) remains a game behind conference leader North Carolina Central (18-6, 10-0). Howard (12-11, 6-3) drops 3 1/2 games back.
Gaston had 17 points and 14 rebounds, and Taylor finished with 12 points and 10 boards.
Howard's James Carlton hit two 3s as part of a 10-2 surge by the Bison to tie it at 63 with 4:27 to play. Gaston answered with four straight points, but the Spartans were just 3 of 6 from the line before James Daniel's made a 3 to pull the Bison within 70-68 with 9.2 seconds left.
Norfolk State then made 2 of 4 free throws, and Daniel's 3-point attempt fell short to seal it for the Spartans.
Daniels finished with 24 points.