Freshman Aaron Cosby had a season-high 19 points for the Pirates (17-8, 6-7 Big East), who their second straight after a six-game losing streak.
Ashton Gibbs had 26 points, including 15 of Pittsburgh's final 19 of the game, to lead the Panthers (15-11, 4-9), who have lost two straight as they try to recover from an 0-7 start in the conference.
Nasir Robinson's layup with 8:12 to play gave Pittsburgh a 61-55 lead. With 6:40 to play, Seton Hall's Fuquan Edwin scored on a drive but was called a charge on the play. It was the fifth personal foul for the best defensive player on the Pirates, but the points started a 10-0 run that ended with Haralds Karlis' 3-pointer with 4;37 left, his only points of the game.
Gibbs hit a jumper with 3:58 left to make it 65-63, but Jordan Theodore, who finished with 15 points and nine assists hit a short jumper to make it 67-63 with 3:36 left.
Gibbs hit all three free throws after being fouled taking a 3 with 1:27 left. Pope scored down low on a pass from Theodore with 30 seconds left.
Freshman Brandon Mobley stole the ball from Pittsburgh point guard Tray Woodall on the next possession. As Seton Hall passed the ball to waste time, Robinson was called for a flagrant foul on Pope at midcourt.
Pope made the two free throws and on the ensuing possession he was fouled with 9.7 seconds left and made both for the final margin.
Cosby finished 5 of 9 from 3-point range as the Pirates went 10 of 23 from beyond the arc.
Lamar Patterson added 15 points for the Panthers.