The Nittany Lions escape Madison with a series split and will return to Hockey Valley tied for first place in the Big Ten.
Lamar Stevens led the way with 23 points en route to Penn State's eighth straight win.
Grant Ament's seven-point afternoon and Mac O'Keefe's double hat trick helped Penn State easily dispatch St. Joseph's at Panzer Stadium.
Dylan Holloway scored the game-winning goal in a game that Penn State dominated the second half of on Friday night.
The Nittany Lion and Eric Gaspich have set a goal to raise $7,000 #FTK before they dance in THON next week.
"A lot of guys get nervous when they enter an arena like that, like at Iowa, so when you get there, make sure you look around the crowd and take it in."