Peyton Manning and the Denver Broncos snuck away with a win and are going to the AFC Championship Game.

Denver defeated the Pittsburgh Steelers in the final Divisional Playoff Game, 23-16, to advance to the NFL's final four for the second time in three seasons.

Pittsburgh led for the majority of the game, but a fourth quarter fumble from running back Fitzgerald Touissant gave the Broncos, trailing by just a point, the ball and momentum.

Broncos running back C.J. Anderson took that momentum and used it to score Denver's only touchdown of the game, which put the Broncos ahead for good.

Denver converted the ensuing 2-point conversion to take a 20-13 lead and later added Brandon McManus' fifth field goal of the day to push the lead to 10.

The Steelers managed one final field goal, but were unable to recover an onside kick.

Denver will host the New England Patriots on Sunday at 3 p.m. for a chance to go to the Super Bowl.

Thumbnail photo via Mark J. Rebilas/USA TODAY Sports Images