Resuming at 183 for six, India lost the last four wickets for the addition of 22 runs.
Fast bowler Dale Steyn finished with six for 50. Morne Morkel and Lonwabo Tsotsobe took two wickets each.
V.V.S. Laxman (38) and Mahendra Singh Dhoni (35) were the top scorers in the Indian innings.
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