In 1957 he enrolled at the Royal Academy of Music, studying under John Gardner with the aid of a scholarship, and four years later in Munich with Harald Genzmer, who was a protégé of Hindemith.
In 1977/78 during a brief period in Minnesota, United States, he wrote what he considered to be his most important work, the Passion and Resurrection according to St Mark for chorus and orchestra.
Steel's catalogue contains seven symphonies, numerous choral works, organ music, concerti, and orchestral pieces for large and chamber orchestra.
Notable CD recordings where his music is featured include his Changing Moods: suite for organ op.59 on Animal Parade (REGCD346) played by William Saunders; Variations on a Theme of Guillaume de Machaut, Op.
On 21 March 2009 Passion and Resurrection according to St Mark received its world premiere at Tewkesbury Abbey, performed by the Cheltenham Bach Choir and the Regency Sinfonia conducted by Stephen Jackson.