Centre director Richard Thomson said there was excitement in the room as the bidding war narrowed down to two bidders, who were upping their offers by $5000 at a time.
Both the sellers and the new owner were thrilled with the outcome, he said.
Thomson called the painting a "national treasure".
"The location of the painting has been a mystery for more than half a century," Thompson said.
"No one knew where it was or even if it still existed so we were astonished and incredibly excited when a family member contacted us to sell it."
Steele was one of the biggest influences in New Zealand art. One of his early pupils was Charles Frederick Goldie, the most significant painter of Maori subjects in art history.
Two Goldie paintings were also being auctioned tonight. Time Tells - Mere Werohia was expected to go for around $500,000, while Weary with Age - Kapi Kapi aged 102 years was expected to reach $300,000.