Ben Roethlisberger marked his return to the field following a five-week injury layoff with a scoring drive on his side's first possession by firing to Antonio Brown on a quick route to the sideline, and the receiver made the catch for a one-yard touchdown.
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The Bengals moved to within a point when Nugent kicked his second field goal of the match, but their offense's struggles in the redzone continued as Dalton failed to find his receivers downfield.
Mike Tomlin's men were dealt a blow before half time when Le'Veon Bell sustained a serious knee injury when he was tackled down the sideline, and was taken from the field on a cart, ruling him out for the rest of the match.
Pittsburgh edged ahead in the third quarter when Chris Boswell fired his kick between the posts from 49 yards, which proved to be the only score of the quarter as both offenses struggled.
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Dalton was intercepted in the endzone by Antwon Blake in the fourth quarter, but Roethlisberger repaid the favour as he was picked off twice by Reggie Nelson and Shawn Williams on back-to-back drives, which allowed the Bengals to drive deep into Steelers territory.
At the second time of asking, Dalton took his chance to put his side in front for the first time in the match as he drilled the ball into the hands of AJ Green, who came through two tackles to find the endzone.
Roethlisberger threw his third interception of the game as Nelson made his second pick with a diving catch on the sideline, and Nugent extend the Bengals' lead to six points to put the pressure on the home side.
The 33-year-old drove his team downfield in the hope of scoring a game-winning touchdown, but his hail mary attempt went out of the back of the endzone as the Bengals strengthened their grip on the AFC North crown.