Kallis and De Villiers counter-attacked the Indians well to steady the South African innings after the loss of three quick wickets.
Mohammed Shami clean bowled Hashim Amla in the over before Ravindra Jadeja had Alviro Petersen caught by Murali Vijay at first slip.
Amla managed three runs, while Petersen scored 62.
Shikhar Dhawan took a good running catch at deep mid-wicket to dismiss South African captain Graeme Smith off Jadeja.
Smith (47) put up a 103-run opening stand with Petersen before falling to Jadeja.
Petersen got to his half-century in the second over of the day after he and Smith resumed the South African first innings.
Day 2 was a perfect day for South Africa. After the delay, Dale Steyn brought the home side into the match picking his 22nd five-wicket haul and then openers Smith and Petersen added 82 runs till stumps.
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