Richardson, 57, of Laguna Niguel, Calif., became the 13th player to win the title a second time.
He won the 16th and 18th holes to tie Frank Abbott of Napa, Calif., forcing them to extra holes at The Virginian Golf Club. He won on the par-3 15th when Abbott conceded a par putt after failing to make a 45-footer for a possible tie.
'It's kind of bittersweet because I really didn't play well,' said Richardson, who won his first title in 2001, 14 years after his father, John, was the champion.
Abbott, 60, a consulting company president, three-putted from nearly 40 feet and lost the 16th hole with a bogey. Richardson squared the match on the 530-yard, par-5 18th when he reached the green in two and two-putted for the tying birdie.
'I hit both those shots as good as I'm going to hit them,' Richardson said of No. 18. 'I knew I'd better get a birdie. I couldn't leave it to him to make a 6.'
On the 195-yard extra hole, Richardson hit his tee shot to about 30 feet, while Abbott's shot settled in the greenside rough. He chipped to about 45 feet away.
'Everybody knows that I'm flat with my swing but if I drop my hands in, bad things can happen,' Abbott said. 'That's the first time I dropped them in all week.'
Richardson received an exemption from the next five Senior Amateurs, the next two Senior Opens, and the next U.S. Amateur, Mid-Amateur and Public Links, if he is eligible.
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