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OAKLAND — One of the NFL's most bitter rivalries just added a whole new chapter.

"We beat a great organization," Oakland defensive tackle Richard Seymour said at his locker Sunday. "You talk about the Raiders and the Steelers, I mean, that's two historic franchises, and doesn't really get any better than that."

Especially when the Raiders come out with a 34-31 win as they did at O.co Coliseum, overcoming a 10-point fourth-quarter deficit to pick up their first win of 2012 — and the first of coach Dennis Allen's NFL career — and adding some light to a season that started bleakly and seemed on the verge of spiraling down the drain.

It was the highest-scoring game between the two teams since the Raiders' 45-34 victory in 1980.

In a contest with 754 yards of total offense, it was the Raiders who made the important plays down the stretch, culminating in Sebastian Janikowski's game-winning 43-yard field goal as time expired, a kick that was placed just a couple feet from the treacherous infield dirt of the multi-use Coliseum.

The victory rekindled the Raiders hopes on many fronts. The anticipated running game that had abandoned them during losses to San Diego and Miami reappeared against the rugged Steelers as Darren McFadden rushed for 113 yards on 18 carries, including a 64-yard scoring burst that got Oakland on the board early. The run defense, gashed by the Dolphins a week earlier, limited Pittsburgh to 54 yards on 20 attempts. And a team that came into the game with no takeaways forced four fumbles and recovered two of them — including a miscue by wide receiver Antonio Brown that Raiders linebacker Philip Wheeler recovered with 10:45 left.

The Steelers were clinging to a 31-28 lead at that point, but the Raiders closed with a flurry. Carson Palmer led a 50-yard drive to set up Janikowski's 32-yard field goal. And even after Pittsburgh converted a gutsy fourth-and-1 play at its own 29-yard line on its next possession, the Raiders soon forced a punt, setting up a 49-yard drive to the game-winning kick.

"I wasn't going to punt the football to them," Steelers coach Mike Tomlin said of his decision to go for the fourth-and-1 play. "We hadn't stopped them enough in the second half to do that. It was inside of one (yard), and if you can't get inside-of-one, you deserve to lose games."

Already thin at wide receiver, the Raiders lost Darrius Heyward-Bey to a crushing hit early in the fourth quarter. So on the final drive, Palmer turned to the likes of tight end Brandon Myers, fullback Marcel Reece and backup receiver Derek Hagan, who wound up wide open on a crossing route for a 17-yard gain that set up Janikowski's boot.

Palmer had an excellent game, but for most of the day he was overshadowed by Pittsburgh's Ben Roethlisberger, who completed 36 of 49 passes for 384 yards and four touchdowns, the first two to tight end Heath Miller. The Steelers pushed the Oakland defense ear exhaustion with a no-huddle offense, and with quick slants and out patterns.

When Roethlisberger dropped back for deeper passes, it was usually bad news for the Raiders. The big quarterback repeatedly eluded pass rushers to buy time, and his fleet stable of receivers was more than a match for Oakland's banged-up secondary, which came in missing two starters (Ron Bartell, now on injured reserve, and Shawntae Spencer) and lost two more players, safeties Matt Giordano and Mike Mitchell, for short periods Sunday.

"They've got a Pro Bowl-caliber quarterback," Allen said. "They have some really good receivers. They have an excellent tight end. We kind of anticipated they would come out and try to throw the ball on us and that's what they did."

Palmer threw an interception on his first pass of the game, Steelers safety Ryan Clark snaring the ball after Denarius Moore had slipped in the dirt on a route. But, Palmer finished 24 of 34 for 209 yards and three touchdowns, and was fully in command late when it counted most. Pittsburgh was missing some key defensive players, too, in strong safety Troy Polamalu and linebacker James Harrison.

"Carson just knows how to keep his composure," Hagan said of Palmer. "He's a veteran, he's been in this league for a long time, he's played the Steelers many, many times. I think he's played the Steelers the most out of everybody on this team. He knows what they're gonna do today, and they pretty much did the same thing that they did six, seven years ago when he was playing for Cincinnati."

The Raiders also went to the no-huddle at times, making for some very tired defenders on a warm day in the East Bay.

The Steelers twice grabbed a 10-point lead, the second time on Roethlisberger's 22-yard strike to the wide-open Mike Wallace with 11:50 remaining in the game that made it 31-21. The Raiders, boosted by Mike Goodson's 51-yard kickoff return, immediately answered with Palmer's touchdown toss to tight end Richard Gordon on a third-and-goal play.

After the game, Allen — who turned 40 the day before the game — downplayed getting his maiden victory. His players knew better.

"I know it meant something to him," defensive tackle Tommy Kelly said. "How doesn't it? It's your first victory ever as a head coach. He's going to wait till he gets out of here, then he's going to let his hair down a little bit."

Allen keeps his hair pretty close-cropped, but he deserves to tussle it a little after this wild win.

You can reach Staff Writer Phil Barber at 521-5263 or phil.barber@pressdemocrat.com.