Yes, they have. Currently, the Raiders have an all-time regular season record of 10-9 versus the Steelers. The two teams are tied 3-3 in postseason meetings.
The Raiders will play the Steelers again on September 23, 2012.
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The Steelers won their first postseason game against the Oakland Raiders, 13-7, on December 23, 1972. The Steelers lost their first postseason game to the Miami Dolphins, 21-17, on December 31, 1972.
The 1933 Steelers, then known as the Pittsburgh Pirates, played their first game in franchise history against the New York Giants at the Polo Grounds.
The Pittsburgh Steelers
The Steelers won two AFC championship games on the road.December 29, 1974 - at Oakland Raiders (24-13)January 22, 2006 - at Denver Broncos (34-17)
In 1969, the Steelers played their home games at Pitt Stadium in Pittsburgh, PA.