CINCINNATI (AP) -- Rookie T.J. Yates led the biggest drive in Houston Texans history on Sunday, throwing a 6-yard touchdown pass with 2 seconds left for a 20-19 victory over the Cincinnati Bengals that brought the first playoff berth in franchise history.

With their seventh straight win, the Texans (10-3) moved to the threshold of their first playoff berth. They clinched the AFC South title a few minutes later when Tennessee lost to New Orleans.

Cincinnati (7-6) couldn't prevent the Texans from going 80 yards in the closing minutes behind their third quarterback in the last four games. Yates' 6-yard throw to Kevin Walter -- uncovered at the goal line -- set off a celebration on the Houston sideline.