Baltimore Ravens kicker Justin Tucker (9) kicks the game winning field goal in overtime of an NFL football game against the Pittsburgh Steelers, Thursday, Oct. 1, 2015 in Pittsburgh. The Ravens won 23-20 in overtime. (AP Photo/Gene J. Puskar)

Baltimore Ravens kicker Justin Tucker (9) kicks the game winning field goal in overtime of an NFL football game against the Pittsburgh Steelers, Thursday, Oct. 1, 2015 in Pittsburgh. The Ravens won 23-20 in overtime. (AP Photo/Gene J. Puskar)

Baltimore Ravens kicker Justin Tucker nailed a clutch 52-yard field goal in overtime to lift Baltimore to a 23-20 victory over their arch-rivals, the Pittsburgh Steelers, on Oct. 1 in Pittsburgh.

It was the first win of the season for the Ravens, who started the season 0-3 for the first time in head coach John Harbaugh’s tenure. They nearly fell to 0-4, but came up with timely defensive stops and clutch offensive plays to steal the win.

The Steelers led 20-7 in the third quarter but the Ravens never quit, scoring 13 unanswered points to mount a comeback. Pittsburgh had several opportunities to extend its lead in the fourth quarter, but failed each time. After veteran kicker Josh Scobee missed two field goal attempts, Steelers coach Mike Tomlin lost trust in him, and chose to go for it on two separate fourth-and-short scenarios late in overtime. The Ravens defense stopped the Steelers on both occasions; the second stop set up the opportunity for Tucker to kick the game-winning kick.

Tucker also made a 42-yard field goal that forced overtime; he was three-for-three in field goal attempts in the game.

Baltimore Ravens running back Justin Forsett (29) runs the ball in an NFL football against the Pittsburgh Steelers, Thursday, Oct. 1, 2015 in Pittsburgh. (AP Photo/Don Wright)

Baltimore Ravens running back Justin Forsett (29) runs the ball in an NFL football against the Pittsburgh Steelers, Thursday, Oct. 1, 2015 in Pittsburgh. (AP Photo/Don Wright)

Running back Justin Forsett was the offensive star for the Ravens, rushing for a season-high 150 yards on 27 carries. Quarterback Joe Flacco completed 20 of 33 pass attempts for 189 yards and one touchdown, but also tossed an interception. Veteran receiver Kamar Aiken caught the touchdown pass from Flacco, finishing with five catches for 77 yards.

Ravens veteran receiver Steve Smith left the game with a lower back injury; he caught four passes for 24 yards before the injury. Receiver Michael Campanaro also left the game with a back injury, after scoring a touchdown on a reverse play in the first quarter.

Steelers backup quarterback Michael Vick filled in well for the injured Ben Roethlisberger, completing 16 of 24 pass attempts for 124 yards and a touchdown; he also ran for 33 yards.

Star running back Le’Veon Bell had a big game for Pittsburgh, rushing for 129 yards on 22 carries. Receiver Antonio Brown was limited to just five catches for 42 yards, and dropped a touchdown pass in the first half.

Next: Baltimore (1-3) will host the Cleveland Browns at M&T Bank Stadium in Baltimore on Sunday, Oct. 11. Kickoff is set for 1 p.m. Eastern.