Shaun Suisham kicked a 42-yard field goal on the final play of the game and the Steelers won their second in a row — and ended a three-game home losing streak to rival Baltimore — by defeating the Ravens 19-16 on Sunday at Heinz Field.

It was the ninth time in their past 11 games that a contest between the Ravens (3-4) and Steelers (2-4) was decided by three points.

The Steelers shutting down what already was an ineffective Ravens running game enjoyed leads of 7-0 and 10-3 — the first time they've had a touchdown lead at home this season.

After a Ravens punt the Steelers mounted a 60-yard touchdown drive that ended with Ben Roethlisberger's 3-yard shovel pass to Heath Miller for a touchdown in the first quarter.

The Steelers made it 16-9 after the Ravens gambled and failed to convert an onside kick following one of Justin Tucker's three field goals. Derrick Moye with a step on a defender couldn't make a catch in the end zone on third down. The Steelers settled for Suisham's 38-yard field goal. Suisham made four attempts and is 14 for 14 this season.

But the Ravens' offense which was held in check most of the game mounted a game-tying 73-yard drive that lasted more than eight minutes. Joe Flacco went 9 of 10 including key third-down completions to Jacoby Jones Tandon Doss and Ray Rice before finding tight end Dallas Clark behind safety Ryan Clark for a 3-yard touchdown pass with 1:58 remaining.