Faf du Plessis and AB de Villiers were unbeaten on 42 and 25 respectively and took South Africa 236/4 at lunch on Day 5, need 222 more runs to win with six wickets remaining.
Zaheer Khan broke the crucial fourth wicket stand between Jacques Kallis and Faf du Plessis by dismissing the former.
Zaheer also created a milestone as he became the second Indian pacer to take 300 Test wickets after the legendary Kapil Dev.
Kallis and du Plessis added 54 runs in quick time to accelerate South Africa's chase. Kallis was in his elements as he smashed with six boundaries in his 34 runs knock came off 37 balls.
Kallis found himself unlucky after he was given lbw as there was a big inside change.
Mohammed Shami gave India an early breakthrough on Day 5 when Alviro Petersen edged a delivery onto his stumps.
The day's play started with Petersen and Faf du Plessis resuming the South African second innings.
On Day 4, Cheteshwar Pujara (153) and Virat Kohli (96) ensured that South Africa couldn't make much headway with the new ball in the morning session.
After India were bowled out for 421 in their second innings an hour after lunch, the stage was set for the bowlers to work the first-innings magic all over again.
Zaheer Khan and Co came out with a plan, they looked to pitch it up with the occasional short ball dug in, but the South African openers Graeme Smith and Petersen hung on.
Hashim Amla came in after Smith was run out by Ajinkya Rahane. Amla looked in control but suddenly, a Mohammad Shami delivery landed in the middle of the pitch and Amla ducked. But to the batsman's surprise, the ball didn't rise, eluded his body as he bent on his knees and took the top of off-stump.
Peterson and Du Plessis, promoted to No. 4 ahead of an out-of-form Jacques Kallis, survived the day as South Africa reached 138/2 at stumps.
India still hold the advantage but can they wrap it up on a worn off Day 5 track?
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