Justin Tucker kicked the game-winning field goal as the Baltimore Ravens stunned the Pittsburgh Steelers 23-20 for their first win of the season on Thursday.

Ravens kicker Josh Scobee missed two late field goals and Tucker took full advantage, converting a 52-yard attempt with just over five minutes remaining in OT to help the Ravens avoid a 0-4 start to the NFL campaign.

Scobee failed to make good on tries of 49 and 41 yards as the Steelers nursed a 20-17 lead late in the fourth quarter. Each miss gave the Ravens new life, and the visitors marched down the field on a final-minute drive that ended when Tucker hit a 42-yard field-goal attempt with barely a second to spare in regulation.

It was an embarrassing loss for the Steelers, who fall to 2-2, despite having myriad chances to seal the game, Scobee's misses notwithstanding.

Veteran quarterback Michael Vick had played well enough in Ben Roethlisberger's absence to give the Steelers a win, completing 19 of 26 passes for 124 and a touchdown.

More importantly, Vick was not responsible for a turnover, an issue that has squandered most other late-career starting opportunities.

Le'Veon Bell was the best offensive player for the Steelers, rushing for 129 yards on 22 carries with a touchdown. He broke loose later in overtime on a 22-yard run that put the Steelers in Ravens territory, but coach Mike Tomlin chose to put the ball in Vick's hand on the play that ended the drive.

The Ravens took the ball and drove 32 yards the other way to get within Tucker's striking distance, and he did what Scobee could not — seal the game.

Ravens quarterback Joe Flacco was under pressure often and finished 20 of 33 for just 189 yards passing, a touchdown and an interception.

Justin Forsett, quiet to start the season, carried Flacco's slack, rushing for 150 yards on 27 carries.