Galloway finished with 14 points and Bembry had 13. Ronald Roberts, Jr. added 9 points and 15 rebounds for Saint Joseph's (9-4).
Denver (7-8) started strong, leading 16-8 midway of the first period, and held a 25-23 halftime lead. Halil Kanacevic started the second half with a layup and Bembry made two free throws to put Saint Joseph's ahead 27-25. Denver retook the lead 28-27 on free throws by Chris Udofia and Cam Griffin.
Bembry made a 3-pointer and a layup and the Hawks led 34-30 at the 15:14 mark. Denver stayed close and only trailed 51-49 with 2:06 remaining following two free throws by Udofia. Chris Wilson made two free throws with seconds remaining to seal the victory for the Hawks.
Jalen Love led Denver with 20 points.
Florida State's student government has passed a resolution discouraging Seminoles fans from wearing Native American headdresses at games.
The second annual Gavitt Tipoff Games, eight games between members of the Big East and Big Ten to be played Nov. 14-18, will feature Villanova at Purdue in the opener.
Michael Lewis is leaving his assistant coaching job at Butler to take the same position at Nebraska under Tim Miles.