Zaheer Khan took his first wicket when he had Dale Steyn (44) caught behind by captain MS Dhoni.
Ravindra Jadeja registered his second five-wicket haul when he had centurion Jacques Kallis caught by Dhoni.
Kallis went for the slog sweep, but got a top edge and the ball went high up in the air for Dhoni to take an easy catch.
Kallis hit 13 fours in his 115-run knock before falling to Jadeja.
Playing his last Test, Kallis hit his 45th Test century to take South Africa past the Indian first innings score.
Kallis is only the fourth South African batsman after Pieter van der Bijl, Barry Richards and Lee Irvine to hit a century in his last Test.
This is Kallis's seventh century against India.
Kallis is second on the all-time list of century-makers in Test cricket behind India's Sachin Tendulkar, who finished with 51.
Kallis announced on Christmas Day that he would retire from Tests after his 166th appearance for his country at Kingsmead -- the same ground he made his debut at as a 20-year-old prodigy in 1995.
The day's play started with Kallis and Dale Steyn resuming the South African first innings.
The cracks are still there on the pitch but they have not widened enough. The footmarks are getting bigger and will cause some problems for the batsmen. The spinners will enjoy bowling in the rough. The overcast conditions will help the pacers a bit provided they bowl well.
On Day 3, it was all about the four-hour long grind by Kallis to take South Africa in a decent position.
India struck early on Day 3 picking up three wickets. Kallis and AB de Villiers then came together to add 127 runs at decent pace. De Villiers scored his 34th Test fifty but Ravindra Jadeja then struck to remove him just before Tea.
Kallis and JP Duminy and were made to toil hard for runs as the Indians bowled tight lines. Duminy got out to Jadeja just before rain stopped play.
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