Resuming on 256-5, the Proteas finished their first innings on 408, thanks largely to a marathon 185-run knock from Dean Elgar. India had been bowled out for 245 in its first innings.
Elgar, playing his last Centurion test after announcing his retirement pre-series, was named player of the match.
“It was a pretty special knock. I tried to play late and focus on the ball, playing it nice and straight,” Elgar said. “We did well to take 20 wickets … KG (Rabada) was brilliant and Burger showed why he has been a shining light for South African cricket.
“The Indian team is a difficult one to beat, but we were pretty clinical.”
Trailing by 163 runs, India’s second innings got off to the worst possible start and never recovered.
Opener Yashasvi Jaiswal had been dropped at slip off the very first ball, but he didn’t survive long. He was caught behind off a rising delivery by Burger for five runs off 18 balls.
Sharma had already been bowled for an eight-ball duck after Rabada broke through his defense in the third over.
Shubman Gill (26) played some attractive shots but was bowled playing across the line against Burger.
Gill had added 39 runs with Kohli for the third wicket. Even so, it wasn’t a comfortable partnership and India went to tea at 62-3.
The procession of wickets continued straight after play resumed as Jansen bowled Shreyas Iyer for six, again playing across the line.
Burger then made quick work of the lower order. First innings’ centurion Lokesh Rahul was caught at second slip. Ravichandran Ashwin hung out his bat on the first ball he faced — caught at gully for a golden duck.
Kohli played some attractive strokes toward the end, and reached 50 off 61 balls. Overall he hit 12 fours and a six, but was unable to chase his century, out caught off Jansen.
India was bowled out in just 34.1 overs across less than two sessions in a hapless batting display.
This was after South Africa added only 16 runs to its first innings post-lunch. Skipper Temba Bavuma did not bat because of his hamstring injury.
Jansen was stranded at 84 not out with Jasprit Bumrah wrapping up the tail with two quick wickets. The pacer finished with 4-69 in an otherwise uninspiring Indian bowling display.
In the morning session, Jansen and Elgar took advantage of India’s insipid bowling to add 111 runs for the sixth wicket.
Elgar was dismissed in the 95th over as he gloved one down leg side off Thakur. He hit 28 fours in his knock.
Jansen, who notched up a career-best score, had reached his second test half-century off 70 balls.