Sam Jones added 19 points, including five 3-pointers, and 10 rebounds for the Quakers (5-5), who snapped a four game losing skid.
Penn won the rebounding battle 48-35; including 18-8 on the offensive end, and had 17 assists as a team.
After the teams went into the half tied at 36, Howard hit a 3 to spark a 10-0 run which gave the Quakers a 46-36 lead. Jones added the last of his five 3-pointers to push the Penn lead to a game high 14 (66-52) with 5:16 remaining.
An Eric Williams jumper cut the Bears deficit back to within 10 (70-61) with 2:20 left, but it was too little too late.
Matt Knowles led Ursinus with 26 points, including 5 of 8 from 3-point range.