Isaiah Miles added 15 points for the Hawks (12-15, 6-9 Atlantic 10), who snapped a three-game losing streak and won on the road for the first time in nine away games. Bembry scored in double figures for the 24th game in picking up his fifth double-double.
Cady Lalanne scored 14 points and had 13 rebounds for his 12th double-double this season to lead the Minutemen (16-12, 9-6), who have lost three straight following a six-game winning streak.
The Hawks shot 47.4 percent and were 9 of 13 for 69.2 percent from the 3-point arc. The Minutemen shot just 33.8 percent.
The Hawks led 76-71 with 1:24 left before Bembry scored on a layup and dunk and Chris Wilson added two free throws for the final score.