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Rabada, who made his test debut after Morne Morkel failed a late fitness test, had Virat Kohli (1) caught by a diving Dean Elgar at short cover as the 20-year-old fast bowler reached lunch with 1-20 off seven overs.
Seamer Vernon Philander (1-17) and left-arm spinner Elgar (1-3) also picked up a wicket each as the Proteas made impressive in-roads into India’s batting line-up despite opening batsman Murali Vijay reaching lunch unbeaten on 40 off 80 balls with six fours.
India won the toss and elected to bat on a pitch that was full of cracks and looked worn already.