Shaun Suisham kicked a 34-yard field goal as time expired as host Pittsburgh benefited from a pair of fumbles by Michael Vick to win the Keystone State battle.
Rashard Mendenhall accepted a lateral from Ben Roethlisberger and rushed 13 yards for a score in his first game since sustaining an ACL injury. Mendenhall finished with 101 all-purpose yards for the Steelers (2-2), who were victorious following their bye for the fifth straight year.
After LeSean McCoy converted a pair of 4th-and-1 opportunities, Vick completed a 17-play, 79-yard drive when he fired a strike to tight end Brent Celek with 6:33 remaining in the fourth quarter to give the Eagles (3-2) a 14-13 advantage.
Undaunted, the Steelers strung together a 14-play drive before Suisham split the uprights to remain a perfect 8-for-8 on the season.
McCoy, who played collegiately at Pittsburgh, scored on a 15-yard reception to trim the Steelers' lead to 10-7 at 6:32 of the third quarter. The scoring play was Vick's 150th touchdown - throwing and rushing combined.
GAME NOTEBOOK: With the Eagles poised to score, Vick fumbled into the end zone to derail a promising drive in the first quarter. The quarterback also fumbled at midfield - with linebacker Larry Foote falling on both loose balls. ... Steelers S Troy Polamalu returned from a two-game absence with a strained calf, but aggravated the injury during the second quarter. He did not return. ... Pittsburgh LB James Harrison collected two tackles in his season debut after nursing a sore left knee.