SOUTH BEND, Ind. (AP) -- Jarious Jackson hit Jay Johnson for a 16-yard touchdown with 36 seconds left and Notre Dame extended its NCAA-record winning streak over Navy to 36 games with a 28-24 victory on Saturday.

The Irish (5-3) won ugly, racking up 130 yards on 13 penalties and consistently played themselves out of scoring opportunities. Yet Navy (2-6) was still unable to beat the Irish for the first time since 1963, when Roger Staubach was the Midshipmen's quarterback.

The streak was in danger with 5:56 left when Tim Shubzda kicked a 33-yard field goal to put Navy up 24-21.

Terrance Howard picked up the ensuing squib kick at the 18 and returned it to the 41, and Jackson took over.

Although erratic all day, Jackson produced when he had. The Irish began their winning drive by converting two straight third-down situations.

Perhaps his most best throw came on fourth-and-10 with 1:20 left when he hit Bobby Brown just short of the first down marker at the 27. The receiver twisted forward for the first down, keeping Notre Dame alive by inches.

After yet another third-down conversion and two dropped passes in the flat, Jackson threw a floater to Johnson just inside the 5. Johnson spun away from a defender and just got inside the pylon for the winning score.

It was the third time this season that Jackson brought the Irish back from late deficits to win and the fourth time this season that Notre Dame had a game decided on a last-minute drive.

In theory, the Midshipmen shouldn't have even been close.

Navy blew a 23-point lead last week in losing to lowly Akron and lost quarterback Brian Broadwater to a broken collarbone. Coach Charlie Weatherbie missed some practice this week after having surgery to remove kidney stones, and sophomore Brian Madden made his first college start at quarterback in one of the most famous college stadiums in the country.

The Midshipmen played with poise, with Madden confidently guiding Navy like a veteran. He was 7-of-17 for 86 yards and rushed 34 times for 168. But he also threw an interception and lost a fumble.

Jackson, third nationally in passing efficiency, was 15-of-33 for 200 yards with two touchdowns and two interceptions.

On a day that the Irish honored the famed Four Horsemen backfield of 75 years ago, Notre Dame rushed for 324 yards, including 146 by freshman Julius Jones.