Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: Let $\mathbf{M} = \begin{pmatrix} 2 & 7 \\ -3 & -1 \end{pmatrix}.$  There exist scalars $p$ and $q$ such that
\[\mathbf{M}^2 = p \mathbf{M} + q \mathbf{I}.\]Enter the ordered pair $(p,q).$
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