The defender played the full 90 minutes alongside Spurs team-mate Danny Rose as the Young Lions beat Norway 1-0 at Chesterfield to top Group Eight.
They now take their place as seeds in Friday's play-off draw with seven teams eventually joining hosts Israel in next summer's finals.
Steven - who was called into Roy Hodgson's senior squad for last month's friendly against Italy - was on target as the Under-21s beat Azerbaijan 2-0 on Thursday night before completing the job against Norway.
"We achieved what we set out to do when we met up eight days ago - to win both games and from a defensive point of view, keep two clean sheets," said Steven.
"I thought Norway provided a tough test on Monday but we showed good character to come through and we've only lost one game in the qualifying process, so there are plenty of positives to take into the play-offs.
"I've played in quite a few big games in the last couple of years including the Olympics and with my first senior call-up, the play-offs will be right up there.
"Hopefully we'll come through the two games and then head out to Israel next summer.
"I went to the finals with the Under-19s (in 2010) and we ended up losing in the semi-finals to a strong Spain team. It would be great to reach another European finals tournament with the Under-21s."