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.
Mike Krzyzewski says he has good reason to be excited for next season thanks to a combination of Duke's incoming freshmen and a core of experienced upperclassmen.
Georgia guard Juwan Parker has been awarded a medical redshirt, leaving him with two years of eligibility, after missing the 2015-16 season with a partially torn Achilles tendon.
Forward Trevon Bluiett has withdrawn from consideration from the NBA draft and will return to Xavier for his junior season.