PRINCETON, N.J. -- Dale Harris ran 30 times for 177 yards and one touchdown, Morgan Roberts had two scores and Yale beat Princeton 35-28 on Saturday.

Yale took its first lead at 24-21 on a short field goal in the third. Princeton's Isaiah Barnes answered with a 53-yard TD catch for a 28-24 lead. But Bryan Holmes made another field goal at the start of the fourth and Robert Clemons III scored the go-ahead TD on a 19-yard grab.

Darius Manora intercepted a Chad Kanoff pass on fourth-and-6 from the Yale 47 with 3:24 remaining and Yale ran out the clock on its final drive.

Yale won last season, but neither team has won more than two straight in the last decade.

Roberts was 20-of-29 passing for 185 yards and a touchdown, and had a rushing score for Yale (6-3, 3-3 Ivy).

Kanoff threw for 338 yards with three touchdowns and two interceptions for Princeton (5-4, 2-4).