Barneveld erased a 7-point third quarter Assumption lead to tie the game at 31 with just over three minutes left to play.
The Royals were also without leading scorer, Junior Mary Sigler, who fouled out.
That's when Assumption freshman Gena Grundhoffer answered by scoring the next six points for the Royals, to help Assumption win the Division 5 State Championship in Green Bay.
Royal's Senior Hannah Skibba and Junior Jenny Wanta also hit free throws in the final twenty seconds to seal the victory for Assumption.
Grundhoffer could hardly hold back her excitement after winning a gold ball as a freshman.
"I was really nervous, you know, being a freshman, being in this huge game. I knew I needed to step up and I did. We came together as a team this tournament and we won it. It's just the most amazing feeling ever," said Grundhoffer.
Sigler talked about how her team stepped up after she had fouled out of the game.
"In practices, we practiced without me sometimes because I have been getting in foul trouble lately. But I never knew I would foul out in the state championship game. They really just stepped up as a team, " said Sigler.
"To be honest when I was a freshman, I never had imagined I would be here today," said Royal's Senior Hannah Skibba.
"So many surprises, so many great things happened throughout the season happened. I'm so grateful for the experience. I will have these memories forever," said Skibba.
The Royals say their hard work throughout the season has paid off.
"We've done all the little things coach preached to us. It felt really nice when that final buzzer went off, " said Junior Brittney Birkhauser.
Coach Joe Birkhauser said he could not be more proud of his team's accomplishment.
"I give our kids a lot of credit. When you've got two freshman on the floor, couple of juniors and a senior, I tell you what, I couldn't be any prouder, " said Birkhauser.