Joe Flacco hit T.J. Houshmandzadeh with an 18-yard touchdown pass with 32 seconds left on the clock to give the visiting Baltimore Ravens a 17-14 victory over the rival Pittsburgh Steelers on Sunday.

The Ravens held the Steelers to 210 total yards.

After Pittsburgh (3-1) used a 13-play, 93-yard drive to jump on top 14-10, Baltimore (3-1) had a chance to take the lead back on its next possession but Flacco threw two incomplete passes from the Steelers’ 2-yard line to turn the ball over on downs.

Pittsburgh went three-and-out from deep in its own territory and punted, giving Flacco and the Ravens the ball back at the Steelers’ 40-yard line with 55 seconds left.

Flacco hit Anquan Boldin twice and then Houshmandzadeh twice to quickly regain the lead.

Pittsburgh got a 1-yard touchdown dive from Rashard Mendenhall to grab a 7-0 lead in the second. The Ravens responded on the ensuing drive with Willis McGahee’s 9-yard touchdown run. Mendenhall rushed for 79 yards and two TDs.

Baltimore took the lead at the half when Billy Cundiff knocked a 33-yard field goal through as time expired in the second quarter.