After India elected to bat in Centurion, Rahul and Mayank Agarwal gave the visitors a flying start, adding 117 runs for the first wicket.
Agarwal (60) and Cheteshwar Pujara's dismissal off consecutive deliveries had put the pressure back on the hosts but Rahul and skipper Virat Kohli steadied the ship with a 82-run stand for the third wicket.
Lungi Ngidi struck for the third time on the day to dismiss Kohli on 35, before Rahul and Ajinkya Rahane took India's total across the 270-run mark at Stumps.
Unfortunately, the play was called off on Day 2 due to persistent rain and wet outfield.
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