The win is the sixth straight for the Bearcats, as they improve to 13-5 overall on the regular season.
The Bearcats scored the first 11 points in the opening six minutes, but the Mariners (11-6, 4-1 Skyline) fought back after a slow start to enter the half trailing, 29-25. Ashley Carlisle (Oakton, Virginia/James Madison) scored nine points on 4-of-7 shooting to end the half.
The Bearcats started the second half with momentum to build a 39-29 lead with 15:47 left, but the Mariners responded again with a 15-4 run in the next six minutes to go ahead, 44-43, with 9:14 left.
The game the rest of the way saw each team exchange baskets, with neither team able to build any lead over two points until the final minute of play.
The Mariners led 56-55 at the 1:33 mark, but Ally Stamatiades (Astoria, N.Y./W.C. Bryant) scored a lay up in the team's next two possessions to build 58-55 lead with 31 seconds left.
The Mariners were able to cut the deficit to one point on a jump shot by Andrea Carey (Lewes, DE/Cape Henlopen) with five seconds left, but Baruch clinched the win with a free throw and offensive rebound off a miss free throw to help let the clock run out.
Stamatiades finished with 12 points, while Jessenia Marrero (Flushing, N.Y./Francis Lewis) scored 10 points.
Kristen Ketsko (Killington, CT/Haddam-Killingworth) led the visitors with 18 points (5-of-9, 3fg).
The Bearcats will return to action on Saturday with a conference road game at Brooklyn College. Tip off in the ARC Arena is scheduled for 12:30 p.m.