Vijay and Pujara hit half-centuries to take the Indian first innings to 163/1 at tea. India scored 87 runs in the second session without losing any wicket.
Pujara reached his fourth half-century with a classic cover drive off Robin Peterson that raced past the boundary for four.
Vijay reached his fourth half-century soon after lunch.
The second session started with Vijay and Pujara resuming the Indian first innings after lunch.
Morne Morkel gave South Africa their first breakthrough when he dismissed Shikhar Dhawan.
After electing to bat first, India got off to decent start courtesy Dhawan and Vijay who looked determined to face the South Africa pacers by putting up a bright 41-run stand for the opening wicket.
However, Morkel was successful in forcing Dhawan (29) to edge the delivery towards third slip where it was comfortably taken by Robin Peterson.
Earlier, Indian skipper MS Dhoni won the toss and decided to bat.
India made one change for this match as bringing in Ravindra Jadeja in place of R Ashwin. On the other hand, South Africa brought in Robin Peterson for Imran Tahir.
"The wicket looks good, slightly on the dry side, but it will have pace and bounce for the fast bowlers," Dhoni said at the toss.
"It's been an emotional few days, we hope that he gets celebrated in the next five days and we can really put in the performance that is fitting for the man who has done so much for South African cricket," South Africa captain Graeme Smith said at the toss.
Teams:
India: MS Dhoni (Capt.), Shikhar Dhawan, Murali Vijay, Cheteshwar Pujara, Virat Kohli, Rohit Sharma, Ajinkya Rahane, Ravindra Jadeja, Zaheer Khan, Ishant Sharma, Mohammed Shami.
South Africa: Graeme Smith (Capt.), AB de Villiers, Hashim Amla, JP Duminy, Faf du Plessis, Jacques Kallis, Morne Morkel, Alviro Petersen, Robin Peterson, Vernon Philander, Dale Steyn.
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