Matt Schaub found Andre Johnson in the end zone with 28 seconds left in the game to lead the Houston Texans past the host Kansas City Chiefs 35-31 on Sunday.

Arian Foster rushed for 71 yards and two touchdowns and Derrick Ward added a rushing score for the Texans (4-2), who battled back from a 21-7 deficit in the second half.

Trailing 31-21 after Thomas Jones rushed for a score for the Chiefs (3-2), Houston came right back, driving down the field to pull within 31-28 on Foster’s 1-yard touchdown run with 3:30 left.

After forcing a three-and-out, Schaub got the ball back on his own 20-yard line and needed nine plays to drive the 80 yards, capping the march with an 11-yard scoring pass to Johnson.

Matt Cassel came into the game with four touchdown passes in four starts this season for Kansas City, but got the offense on track early, leading a 15-play drive capped by a 2-yard touchdown pass to linebacker Mike Vrabel, who came in as a tight end.

Schaub brought the Texans back to tie it at 7-7 with a scoring pass to Joel Dreessen in the second, but Cassel found Dwayne Bowe with a 17-yard touchdown pass as the second quarter came to a close to give the Chiefs a 14-7 edge at the break.

Cassel and Bowe hooked up again early in the third, pushing it to 21-7 with a 42-yard bomb down the left side.