PITTSBURGH — Joe Flacco passed for 259 yards and two touchdowns as the Baltimore Ravens defeated the Pittsburgh Steelers 30-17 on Saturday night in the AFC wild-card round to finally win a playoff game at Heinz Field.

The Ravens had been 0-3 in postseason games at Pittsburgh, losing to their archrivals in 2002, 2009 and 2011. However, Baltimore ended that streak in its return to the playoffs after missing out last season for the first time in six years.

Next up for the Ravens is a divisional round game against the Broncos in Denver next Sunday. The Broncos have a bye this weekend as the AFC’s No. 2 seed.

Flacco, who led the Ravens to the Super Bowl title two years ago, was 18-of-29 passing. Wide receiver Steve Smith Sr. had 101 yards on five receptions.

The AFC Central champion Steelers’ first trip to the playoffs since 2011 was short as they were unable to overcome the loss of Pro Bowl running back Le’Veon Bell. He sat out after hyperextending his right knee in the regular-season finale last Sunday against Cincinnati.

Bell had 2,215 yards from scrimmage and 11 touchdowns during the regular season. The Steelers had 68 rushing yards on 19 attempts without him.

Steelers quarterback Ben Roethlisberger completed 31 of 45 passes for 334 yards and a touchdown but was intercepted twice, both times in the fourth quarter, and lost a fumble.

Steelers wide receiver Antonio Brown had nine receptions for 117 yards after leading the NFL in both categories during the regular season.

Flacco’s 21-yard touchdown pass to tight end Crockett Gilmore with 7:56 remaining gave the Ravens a commanding 30-15 lead, coming one play after linebacker Terrell Suggs intercepted a pass by Roethlisberger.

The Steelers appeared to have drawn within a touchdown on its next possession, but a penalty negated a 19-yard touchdown pass from Roethlisberger to wide receiver Dri Archer. However, the drive eventually ended with 3:07 to go when Ravens safety Darian Stewart had an interception in the end zone.

The Steelers did get a safety when safety Shamarko Thomas blocked a punt by Sam Koch out of the end zone with two minutes left.

Ravens kicker Justin Tucker was perfect on three field goal attempts, including nailing a 52-yarder with 8:47 left that gave the Ravens a 23-15 lead after the Steelers had drawn within five points.

With 11:01 remaining, Roethlisberger threw a 6-yard touchdown pass to wide receiver Martavis Bryant to cut their deficit to 20-15.

The Ravens scored on each of their first two second-half possessions to turn one-point lead into a 20-9 advantage.

After Tucker kicked a 45-yard field with 10:06 left in third quarter, Flacco eluded the rush of linebacker James Harrison and found wide receiver Torrey Smith open in the left corner of the end zone for an 11-yard touchdown pass with 4:13 remaining.

Thanks to the only touchdown of the first half — a 5-yard run by running back Bernard Pierce — the Ravens were able to eke out a 10-9 halftime lead.

Pierce’s run put the Ravens ahead 7-3 with 12:28 left in the second quarter and capped a 65-yard drive. Tucker pushed the lead to 10-6 with a 28-yard field goal with 2:41 remaining.

Steelers kicker Shaun Suisham answered Tucker’s kick with a 47-yard field goal — his third of the half — 37 seconds before halftime to make it a one-point game.

Suisham also converted from 45 yards with 1:29 remaining in the first quarter and from 22 yards with 6:28 to go in the second period.

NOTES: Pittsburgh SS Troy Polamalu (knee) returned to the lineup after missing the last two games of the regular season. … In addition to RB Le’Veon Bell (knee), who had 2,215 yards from scrimmage in the regular season, also inactive for the Steelers were CB Ike Taylor (shoulder, forearm) and TE Michael Palmer (groin). … RB Ben Tate started in Bell’s place just four days after being signed a free agent and following a regular season in which he was released by both the Cleveland Browns and Minnesota Vikings. … Baltimore DE Chris Canty (ankle) started after sitting out the win over Cleveland last Sunday in the regular-season finale. … OT Eugene Monroe (foot) and DT Timmy Jernigan (foot, ankle) were among the Ravens’ inactives. … Rookie OT James Hurt started for Monroe on the left side of the line. … Baltimore coach John Harbaugh got moral support from his brother Jim Harbaugh, who made the five-hour drive from Ann Arbor after being hired as coach by the University of Michigan on Tuesday following his departure from the San Francisco 49ers two days earlier.