England sealed their first Test series victory in South Africa for 40 years when the fifth and final match ended in a draw on Tuesday.
The touring side, set a target of 185 in 44 overs, recovered from 20 for three to reach 73 for four when bad light ended play 16 balls early. England captain Michael Vaughan was unbeaten on 26 at the close with all-rounder Andrew Flintoff on 14.
"It has been a fantastic series, full of ups and downs and I am just delighted to come away with a victory," Vaughan told Sky Sports after leading his team to their fourth successive series victory.
"South Africa are a very hard team to beat, especially here, and these guys have put in a hell of a lot of hard work," Vaughan added.
The last victorious England side in South Africa was in 1964-1965, when MJK Smith captained his team to a 1-0 victory in a five-match series.
England lost their first wicket without a run on the board when fast bowler Makhaya Ntini had man-of-the-series Andrew Strauss caught by Jacques Kallis at second slip with the eighth ball of the innings.
Robert Key was trapped in front for nine by fast bowler Shaun Pollock, and three overs later Ntini struck again when he bowled Mar-cus Trescothick with an angled delivery that seamed back to hit the left-hander's off stump.
Vaughan and Flintoff survived without further alarm, however, guiding their side to a position of safety when the umpires offered them the chance to leave the field because of bad light.
Earlier, AB de Villiers scored 109 and Kallis an undefeated 136, sharing a third-wicket partnership of 227 in South Africa's second-innings total of 296 for six declared.
Kallis batted for 277 minutes, faced 217 balls and hit 16 fours and a six as he became the 25th player to score 20 Test centuries.
De Villiers was at the crease for 276 minutes, facing 169 balls and hitting 11 fours and a six in his maiden Test century.
After the hosts had resumed on 59 for two, De Villiers and Kallis hardly put a foot wrong in scoring 153 runs in the morning session.
England attacked to no avail before reverting to more defensive fields.
De Villiers and Kallis were separated 11 overs after lunch when the former attempted an on-drive to a ball from fast bowler Simon Jones and edged a catch to Matthew Hoggard at third man.
Graeme Smith scored just three before sending a ball from fast bowler Steve Harmison looping to substitute fielder Paul Collingwood at backward point.
Jacques Rudolph was bowled by Harmison and the declaration came after Mark Boucher tried to force a delivery from fast bowler Hoggard through the on-side and was caught by Trescothick at midwicket for six.
England became only the second team after Australia to win a Test series in South Africa since 1992.
England assistant coach Matthew Maynard on Wednesday defended the large number of players in the squad for the seven one-day internationals against South Africa.
"There's the odd niggle [injury] and it was a very tough Test series, so we wanted as many players as possible," Maynard said of the 17-man squad.
"You can never have enough bowlers and one-day cricket is all about who bowls best, so they will all come in handy."
Test bowlers Matthew Hoggard and Simon Jones have both been added to the one-day squad and will compete with fellow seamers Alex Wharf, James Anderson, Steve Harmison, Kabir Ali and Darren Gough for places in the side.