  We present an extraction of the pion-nucleon ($\pi N$) scattering lengths
from low-energy $\pi N$ scattering, by fitting a representation based on
Roy-Steiner equations to the low-energy data base. We show that the resulting
values confirm the scattering-length determination from pionic atoms, and
discuss the stability of the fit results regarding electromagnetic corrections
and experimental normalization uncertainties in detail. Our results provide
further evidence for a large $\pi N$ $\sigma$-term, $\sigma_{\pi N}=58(5)$ MeV,
in agreement with, albeit less precise than, the determination from pionic
atoms.
