SAN DIEGO—This time, Adam Vinatieri was right on from a lot farther out.

Vinatieri, one of the most clutch kickers in NFL history, made a 51-yard field goal as time expired to lift Peyton Manning and the Indianapolis Colts to a heart-stopping 23-20 win over the San Diego Chargers on Sunday night.

He was kicking toward the same goal posts where just more than a year ago he pushed a 29-yard field-goal attempt wide right with 1:31 left, allowing the Chargers to hold on for a 23-21 win.

Manning threw two touchdown passes for the Colts (7-4), who won their fourth...

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