The 27-year old Irishman says he admires the former Everton star because he is always there to help, on and off the pitch.
"I looked up to him all the time. Growing up in Ireland and then coming over here and your mates are saying, 'Oh, you're going to be playing with Tim Cahill and Thierry Henry', you're saying it's good, it's a good feeling," he said on MLS Insider's piece on the Australian international.
"If he sees something's wrong with me, he'll take me aside and put an arm around me, and talk me over it.
"My dad wasn't well and my head wasn't in the right place and Timmy took me away. I stayed at Timmy's house and he looked after me there and just talked to him about the trials and tribulations he has had in his career."
Steel joined the Red Bulls in February 2013 after a stint with Real Salt Lake and has slotted in nicely to the Red Bulls line-up, making 16 appearances for Mike Petke's sixth-placed side.