The Nittany Lions lost their first two games of the season before going on a nine-game winning streak.
On their first drive, the Seminoles scored on a Richie Andrews 41 yard field goal.
Tony Sacca threw a touchdown to David Daniels to put the Nittany Lions on the board with 1:13 remaining in the first quarter.
Penn State narrowed the lead to seven on a Terry Smith touchdown catch from Tom Bill.
The Nittany Lions had one final chance to tie the game after getting into the Seminoles' red zone.