India led South Africa by 311 runs on Saturday at the end of day two of the first Test after dismissing South Africa for only 84 in its first innings.
It was South Africa's lowest score since its readmission to world cricket.
India's opening bowlers had South Africa struggling from the start after reducing the hosts to 5 runs for three wickets in the fourth over.
South Africa captain Graeme Smith was trapped leg before wicket for 5 by Sree Sreesanth. Herschelle Gibbs flashed at a delivery and was caught by Virender Sehwag in the gully for 0 off Zaheer Khan. Hashim Amla prodded at Sreesanth to be caught by V.V.S. Laxman at second slip, also without scoring.
Jacques Kallis was out for 12, edging Sreesanth to second slip.
Sreesanth finished with a career-best 5-40 off 10 overs while Khan took 2-32.
Leg spinner Anil Kumble helped wrap up the tail and finished with 2-2.
Andre Nel, who hit out in desperation when he came to the crease at 45-7, scored 21 off 24 balls. Ashwell Prince scored 24 before he became Kumble's first victim.
In response, India reached 146-5 in its second innings on a day when 20 wickets fell at the Wanderers Stadium.
Laxman was undefeated on 42, helping India to build on its 165-run first innings lead.
Earlier, India was dismissed for 249 in its first innings after Sourav Ganguly scored an undefeated 51 on his return to Test cricket.
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