Pakistan had slipped to a shaky 66 for three straight after lunch at the Sheikh Zayed stadium thanks to a devastating burst of three wickets for no runs in seven balls by spinners Paul Harris and Johan Botha.
However, Misbah and Azhar survived for the next 45.2 overs and added 87 for the fourth wicket to ensure the series ended 0-0 after the first Test was drawn in Dubai.
Misbah provided strong late resistance with his defiant 58 not out off 140 balls while Azhar was obstinance personified with a stubborn 28 not out from 135 deliveries.
Pakistan wriggled off the hook after Botha trapped Taufeeq Umar for 30. Paul Harris then struck twice with Mohammad Hafeez (34) and Younis Khan (0), falling to arm-balls.
SCORE BOARD
SOUTH AFRICA (I Innings): 584/9 decl
PAKISTAN (I Innings): 434 all out
SOUTH AFRICA (II Innings):
Petersen c Younis b Rehman 35
Amla b Rehman 62
De Villiers lbw Rehman 25
Kallis c Taufeeq b Hafeez 10
Prince (not out) 47
Boucher b Gul 15
Botha (not out) 7
Extras (LB-1, NB-1) 2
Total (for 5 wkts decl, 55 overs) 203
Fall of wickets: 1-81, 2-113, 3-130, 4-148, 5-182.
Bowling: Gul 7-0-32-1, Tanvir 5-1-29-0, Rehman 22-1-81-3, Sami 5-0-28-0, Hafeez 16-4-32-1.
Pakistan (II Innings):
Hafeez lbw Harris 34
T Umar lbw Botha 30
Azhar (not out) 28
Younis lbw Harris 0
Misbah (not out) 58
Extras (lb-2, W-1) 3
Total (for 3 wkts, 67 overs) 153
Fall of wickets: 1-66, 2-66, 3-66.
Bowling: Steyn 13-2-40-0, M Morkel 11-3-29-0, Harris 23-14-28-2, Kallis 2-0-13-0, Botha 17-4-40-1, Petersen 1-0-1-0.