CINCINNATI — Sam Cooke's song "A Change is Gonna Come" played on a continuous loop in the Cincinnati Bengals' locker room, providing the musical score for a groundbreaking win.

In five frenetic minutes, the Bengals earned some legitimacy and won back their town.

Carson Palmer's 4-yard touchdown pass to Andre Caldwell with 14 seconds left provided a 23-20 win yesterday that ended the Pittsburgh Steelers' nearly decade-long domination in Cincinnati (2-1), one that appeared set to go on indefinitely until the final drive.

"Priceless," offensive lineman Bobbie Williams said. "The past is the past. This is a new team and a new day."

Pittsburgh (1-2) had won its last eight games on Cincinnati's home field. The last time the Bengals beat them at Paul Brown Stadium was 2001.

The defending Super Bowl champs wasted chances to put the Bengals away. Jeff Reed missed another field goal, and Limas Sweed dropped a pass in the end zone, keeping it close to the end.

"If we score touchdowns in the first half, it's not even a game," Steelers receiver Hines Ward said. "It's 24-0 or 24-3. It's not very good. You've got to put up seven points instead of 3s. That's how you finish a team off."

Palmer led the Bengals on a 16-play, 71-yard drive against one of the league's best defenses, repeatedly converting there-or-else throws. His 11-yarder to running back Brian Leonard on fourth-and-10 moved the ball to the 4. After a spike to stop the clock, Palmer found Caldwell open in the middle of the end zone.