The Mountain Hawks (5-2) trailed 29-28 with 3:23 left in the first half before outscoring the Bobcats 11-4 until the break. Stefan Cvrkalj’s jumper with 5 seconds left in the half put Lehigh up 39-33.
The Mountain Hawks shot 63.6 percent from the field in the second half (14 of 22), and were 15 of 18 from the foul line. Lehigh stretched its lead to as many as 17 points, 81-64, on McCollum’s layup with 2:53 remaining.
Lehigh outscored Quinnipiac 24-16 in the paint in the second half and led 34-28 in that category for the game.
The Mountain Hawks, who won their fifth straight, turned it over 12 times, while dishing out 17 assists.
Gabe Knutson added 19 points for Lehigh.
James Johnson led the Bobcats (2-3) with 25 points.