Kallis took a good low catch at first slip to reduce India to 321/7.
Dale Steyn took his fourth wicket when he had Indian captain MS Dhoni caught by his South African counterpart Graeme Smith at first slip.
Dhoni chased a wide delivery without moving his feet and ended up giving a simple catch to Smith.
Ajinkya Rahane and Dhoni took the Indian first innings score over the 300-run mark after tea.
After the rain delay, Dale Steyn brought South Africa back into the match in the second session of the day. South African pacers bowled good lines and kept the Indian batsmen in check.
Wicket-keeper AB de Villiers took a good diving catch down the leg side to dismiss Virat Kohli off Morne Morkel.
Kohli batted solidly for his 87-ball 46 before falling to Morkel.
Steyn dismissed Cheteshwar Pujara, Murali Vijay and Rohit Sharma in his successive overs to dent the Indian first innings.
Steyn denied Vijay (97) a well-deserved century having him caught behind down the leg side by AB de Villiers and on the next ball Sharma shouldered arms to a delivery that was pitched on the middle stump and went on to crash into the middle stump to register a golden duck.
Steyn gave South Africa the much-needed breakthrough when he had Cheteshwar Pujara caught behind by AB de Villiers.
Pujara fell after scoring 70 runs and added 157 runs with Murali Vijay for the second wicket.
Constant rain washed out the morning session and forced an early lunch in the Test.
The start of the day's play was earlier delayed due to bad weather. However, things looked good to go when the umpires walked out to the center to inspect the ground only to return back as it started drizzling again.
India had reached a comfortable 181/1 before bad light stopped play on Day 1.
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