Steven Cook paced Princeton (4-2) with 15 points. The Tigers shot just under 29 percent and committed 18 fouls. They were beaten at the line as St. Joe's made 15 of 20, while Princeton was only 3 of 6.
Bembry and Papa Ndao made back-to-back 3s midway through the first half and St. Joe's opened a 21-12 lead. Khyan Rayner's 3 with 34 seconds left in the half drew Princeton to within three at the break, 28-25.
Bembry's jumper with 1:05 left put St. Joseph's up 57-48 and the Hawks made 5 of 6 from the line to ice it.