In this article, we construct a Steiner system with the parameters $S(3,6,42)$, settling one of the smallest open parameter sets of Steiner $3$-designs. Furthermore, we establish the existence of rotational Steiner quadruple systems on $46$ and $92$ points. Our construction method is based on extending Steiner $2$-designs using prescribed extension groups. We also consider extensions to designs of higher strength. The article includes a table and a discussion of the status of all admissible parameters for Steiner $3$-designs on at most $50$ points.