A measurement is presented of the associated production of a single top quark and a Z boson. The study uses data from proton-proton collisions at $\sqrt{s} =$ 13 TeV recorded by the CMS experiment, corresponding to an integrated luminosity of 35.9 fb$^{-1}$. Using final states with three leptons (electrons or muons), the tZq production cross section is measured to be $σ$(pp$\to$tZq$\to$Wb$\ell^+\ell^-$q) = $123 ^{+33}_{-31}$ (stat) $^{+29}_{-23}$ (syst) fb, where $\ell$ stands for electrons, muons, or $τ$ leptons, with observed and expected significances of 3.7 and 3.1 standard deviations, respectively.