Temba Bavuma (98) shared a 173-run second-wicket stand with skipper Quinton de Kock (107) as they chased down England's 259 with 14 balls to spare.
Temba Bavuma will miss the first South Africa vs England Test after sustaining a Grade 1 hip flexor muscle strain.
South Africa captain Faf du Plessis addressed the media after his team returned home following the trouncing in India.
India vs South Africa: Zubayr Hamza said South Africa should have been better prepared mentally going into the series.
India vs South Africa: South Africa's rotten luck with the coin toss continued despite using a proxy captain in Temba Bavuma during the third and final Test in Ranchi.
India vs South Africa: South Africa, at one stage, were reeling at 162/8 but Keshav Maharaj and Vernon Philander joined forces to save their side from a humiliating collapse.
IND vs SA: Herschelle Gibbs questioned the selection of Theunis de Bruyn and Temba Bavuma in the South Africa Test team after dismal performances in the first Test against India
India chased down the target of 150 with an over to spare in Mohali against South Africa in the second T20I.
Faf du Plessis made 103, his ninth Test century, as South Africa reached 382 for six at the end of day two.
Sri Lanka on Monday completed a 2-0 Test sweep of South Africa to record their first series win over the Proteas since 2006 after Rangana Herath wreaked havoc with six wickets.
Moeen Ali and Stuart Broad both starred with bat and ball to leave England well-placed come the close of the second day against South Africa at Lord's.
On a chilly day in which play was disrupted twice by rain and gloom, bad light ended play 20 minutes early on a tough day which produced only 186 runs and five wickets -- three in the final session -- at University Oval.
Temba Bavuma came up with an outstanding bit of fielding on Sunday to send Australian opener David Warner back to the pavilion
Temba Bavuma scored 113 runs on his debut for South Africa. This was a one-off one-day match between the two sides.
Temba Bavuma and Dwaine Pretorius are only in line to play against Ireland, while Andile Phehlukwayo will remain in the squad for five matches against Australia, starting in Centurion on September 30
The South African government banned its national cricket, rugby, athletics and netball federations from bidding for international tournaments due to a failure to increase their number of black players
Temba Bavuma, the first black African batsman to play Test cricket for South Africa, scored an unbeaten 102 as South Africa made 627 for seven on the fourth day against England
Captain Hashim Amla scored 201 while Temba Bavuma made an unbeaten 102 to take South Africa to 627 for seven declared in their first innings. England were 16 for no loss in their second innings to lead by 18 after batting out the last six overs on day four of the second Test.