Despite a third-quarter incident that saw two players ejected, the 76ers seized a 3-1 lead in the first-round series against the Nets and could advance in the best-of-seven matchup with a home victory Tuesday.
Philadelphia, down by 10 points early in the third quarter, battled back most of the second half before taking the lead on a run of eight points by Embiid, who missed game three with a sore left knee.
A slam dunk and layup by Embiid gave the 76ers their first late lead at 102-101 but, after an exchange of layups and 3-pointers as well as turnovers, fell behind 108-107 on a basket by Brooklyn's Joe Harris with 25 seconds remaining.
On the next 76er possession, Embiid flipped the last of his seven assists to Mike Scott, whose corner 3-pointer put Philadelphia ahead to stay 110-108 with 19 seconds remaining.
Australian Ben Simmons -- who added 15 points, eight rebounds and eight assists for the 76ers -- stole the ball from Brooklyn's Jarett Allen and Tobias Harris sank two free throws for the last of his 24 points to clinch the triumph.
Caris LeVert led the Nets with 25 points while Brooklyn had 21 points each from Allen and D'Angelo Russell.
Cameroon star center Embiid was issued a flagrant foul in touching off an altercation 4:18 into the third quarter that saw Philadelphia's Jimmy Butler Brooklyn's Jared Dudley ejected.
Embiid, who had elbowed Allen in the face in game two, was whistled for a hard foul on Allen that prompted Dudley to rush at Embiid, taking down the Sixers big man.
Butler swung his left arm at Dudley, who wound up in the front row seats with Simmons at one stage, to earn his ejection.