PHILADELPHIA -- Sam Jones scored 21 points and Darien Nelson-Henry made a layup with 31 seconds left to lift Penn to a 76-75 win over Robert Morris on Friday.

Antonio Woods drove into the key with the shot clock running down and fed Nelson-Henry, who was cutting to the basket from the right wing. The Quakers then survived a contested floater by Rodney Pryor and a putback attempt.

Nelson-Henry finished with 12 points and nine rebounds for Penn, which squandered a 16-point halftime lead before giving Steve Donahue a win in his first game as coach.

Pryor finished 12 of 18 from the field, including 4 of 9 from 3-point range, for 28 points. Elijah Minnie added 15 points and nine rebounds for the Colonials, who trailed 62-47 with 9:56 to play.

Pryor had eight points in an 11-0 run and his layup with a minute left gave Robert Morris a 75-74 lead.