The Texans started the game on the front foot as Ryan Fitzpatrick found rhythm in the first quarter, and he fired his side into the lead when he found running back Alfred Blue for an 11-yard touchdown.
The visitors then forced a turnover from Ben Roethlisberger as Whitney Mercilus sacked the quarterback and JJ Watt managed to fall on the loose ball. Bill O'Brien's side turned the fumble into three points from the boot of Randy Bullock.
Bullock and Shaun Suisham traded field goals at the start of the second quarter before Roethlisberger brought his side back into the match when he found Martavis Bryant in the endzone for the receiver's first NFL touchdown.
Just before break, Arian Foster fumbled the ball on his own three-yard line, and that allowed the Steelers to snatch the lead with a trick play. Roethlisberger handed the ball off to receiver Antonio Brown who fired into the endzone to Lance Moore, who made the grab for the score.
In the second half, Houston managed to get back on the scoreboard to reduce the deficit when Bullock fired a 31-yard field goal through the posts, but Suisham restored his side's 11-point advantage in the fourth quarter.
The Steelers almost ended the game when Roethlisberger found Brown in the endzone, but the receiver just couldn't keep his toes inbounds as Suisham was forced into action again to give his side a 14-point lead with three minutes remaining.
Fitzpatrick managed to rally his side and they would ensure they made the final 90 seconds interesting when he fired a strike to Foster for a one-yard score.
Needing to win back possession Houston tried an onside kick that was dropped by Darius Heyward-Bey. Fortunately for the Steelers and the wideout, Michael Palmer recovered the ball, which allowed his side to kneel out for the victory.