Mohammed Shami claimed his 200th Test scalp as 18 wickets tumbled on a captivating day three at SuperSport Park that ended with India in control against South Africa.
No play was possible on day two due to rain, but the Proteas made up for lost time by bowling the tourists out for 327 in a dramatic morning session.
The brilliant Lungi Ngidi took 6-71 as India lost seven wickets for 49 runs, KL Rahul falling for 123 and Ajinkya Rahane 48 after they had resumed on 272 in Centurion.
Kagiso Rabada provided great support for his fellow paceman, claiming 3-72, but India quickly shifted the momentum when South Africa started their reply.
Shami was outstanding, helping himself to 5-44 as the Proteas were bowled out for 197 in 62.3 overs, Temba Bavuma top scoring with 52, Quinton de Kock making 34 and Rabada 25.
Jasprit Bumrah (2-16) spent a long spell of the field with a sprained right ankle, but was able to return and end the South Africa innings, while Shardul Thakur chipped in with 2-51.
India closed on 16-1, leading by 146 runs, after Mayank Agarwal edged debutant Marco Jansen behind but Virat Kohli's side are well poised to take a 1-0 lead following a day that saw a record number of wickets fall in a Test at this venue.
Ngidi and Rabada tear through tourists
Rabada started the India collapse when he had Rahul caught behind in the fourth over of the day and De Kock took another catch to give Ngidi his fourth wicket, sending Rahane on his way three overs later.
Ngidi had his third five-wicket Test haul as Rishabh Pant could only fend a hostile short ball to Rassie van der Dussen short leg, with Rabada seeing the back of Ravichandran Ashwin and Thakur.
India were all out in a flash when Bumrah became Jansen's first Test victim after the excellent Ngidi drew an edge from Shami and De Kock snaffled a fourth catch.
Landmark for Shami as Proteas fold
Bumrah struck in the first over of the Proteas' reply, captain Dean Elgar edging behind, before Shami took centre stage.
Keegan Petersen chopped on to the third ball after lunch from Shami, who then produced a peach of a delivery to clean up Aiden Markram.
Shami's impeccable line and length, combined with a touch of movement of the seam, accounted for Bavuma caught behind just after he reached his half-century. Pant took another two catches for the 31-year-old, who became only the fifth Indian paceman to take 200 Test scalps.