MADISON, Wisconsin (Ticker) -- Alando Tucker returned to the starting lineup and Wisconsin was glad to have him back.
Tucker scored 12 of his 17 points in the second half as the 18th-ranked Badgers held on for a 63-59 victory over No. 23 Marquette.
A member of the Big Ten Conference's all-freshman team last season, Tucker missed eight weeks with a broken right foot. He came off the bench in Wisconsin's previous two games.
"He did an admirable job," Wisconsin coach Bo Ryan said. "His timing is coming back, he's going to be OK. I'm not trading him midseason."
The Badgers (7-1) overcame a shaky start to post their 19th straight home victory and beat Marquette for the 10th time in the last 11 meetings in Madison.
The Golden Eagles (7-2) opened the game with a 9-0 run, but Wisconsin never trailed after Mike Wilkinson's follow shot snapped a 37-37 tie with 14:23 remaining.
"I thought both teams played with great passion," Marquette coach Tom Crean said. "Both teams had a lot of energy. We got off to a great start. They answered."
Trailing 62-59, Marquette had a chance to tie, but Steve Novak missed an 3-pointer from the left wing with 11 seconds remaining. Novak got an open look coming off a screen but his jumper from the left wing went in and out.
Tucker grabbed the rebound and hit 1-of-2 from the line with nine seconds remaining to clinch the victory. He scored five points in the final 77 seconds.
Wisconsin held Marquette to 41.5 percent (22-of-53) shooting and forced 14 turnovers.
"It was just one of those games," Crean said. "It's going to be a game of runs, it's going to be a game of mistakes. The team that makes the fewest mistakes usually comes out on top."
Devin Harris added 15 points for Wisconsin, which shot just over 39 percent (20-of-51) in a physical affair.
Travis Diener scored 19 points for Marquette, while Novak added 12 points and Karon Bradley contributed 10.