Steele made 7 of 14 shots and all 10 of his free throw attempts while Waite knocked down 10 of 11 tries from the field. Stephen Spinella went 5-of-7 shooting for Monmouth (10-17, 5-9 Northeast Conference), which shot a season-high 56.5 percent (26 of 46).
St. Francis (10-15, 6-8), which trailed by as many as 11 in the first half, clawed back to tie it at 55 with 6:40 left to play. But Monmouth scored the next six points -- four coming from the charity stripe -- to pull away.
The Terriers did not get any closer than four the rest of the way as Monmouth sank 10 free throws in the last 3:35.
Travis Nichols led St. Francis with 20 points.
South Carolina will enter next season with Sindarius Thornwell, Duane Notice, P.J. Dozier and a lot of questions following a turbulent offseason.
Ben Simmons explains what he is focusing on ahead of the start of his NBA career.
After John Calipari's comments about the Louisville scandal, Rick Pitino says that Calipari should not be worried about other programs and to keep quiet unless he is praising another institution.