Most paint stores offer a stain matching service. If you can provide them with a piece of the stained wood you want to match, and a piece of the unstained wood you're using, they can usually do a pretty good job getting a close match.
If that can't be done for whatever reason, your best bet might be to sand the sealer and stain off the portion of each step that is stained, and then stain the whole step with the same stain to ensure a perfect match.
That's your excuse to buy an orbital sander.
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