The cross section of top quark pair production is measured in the $\mathrm{t\bar{t}}\to (\ell\nu_{\ell})(\tau_\mathrm{h}\nu_{\tau})\mathrm{b\bar{b}}$ final state, where $\tau_\mathrm{h}$ refers to the hadronic decays of the $\tau$ lepton, and $\ell$ is either an electron or a muon. The data sample corresponds to an integrated luminosity of 35.9 fb$^{-1}$ collected in proton-proton collisions at $\sqrt{s}=$ 13 TeV with the CMS detector. The measured cross section is $\sigma_{\mathrm{t\bar{t}}} =$ 781 $\pm$ 7 (stat) $\pm$ 62 (syst) $\pm$ 20 (lum) pb, and the ratio of the partial width $\Gamma($t$\to\tau\nu_{\tau}$b) to the total decay width of the top quark is measured to be 0.1050 $\pm$ 0.0009 (stat) $\pm$ 0.0071 (syst). This is the first measurement of the $\mathrm{t\bar{t}}$ production cross section in proton-proton collisions at $\sqrt{s}=$ 13 TeV that explicitly includes $\tau$ leptons. The ratio of the cross sections in the $\ell\tau_\mathrm{h}$ and $\ell\ell$ final states yields a value $R_{\ell\tau_\mathrm{h}/\ell\ell}=$ 0.973 $\pm$ 0.009 (stat) $\pm$ 0.066 (syst), consistent with lepton universality.