The Pembroke Public Library serves as a cultural focal point and community hub, dedicated to empowering lifelong learning, inspiring education, and enriching recreation for all community members. Its mission is to provide a welcoming physical and virtual space that fosters inspiration, education, and empowerment by offering access to a diverse range of resources, ideas, information, and experiences. The library provides various services including computer and internet access, printing, scanning, and photocopying. It also offers a "Library of Things" collection with non-traditional items, and "Education Kits" for hands-on learning, particularly in STEM. For children, there is a dedicated play space and computers with educational programs. The library also has a special collection of local history materials. Historically, the library traces its origins back to the Pembroke Female Reading Society founded in 1811 and has evolved into a town-supported institution, continuing a long-standing community value for reading and learning.