By the end of the day's play, South Africa had scored 65 runs in 20 overs for two wickets in their second innings.
Vernon Philander took career best figures of 6/42 to bowl India out and help South Africa record a 73-run victory in the first Test.
The report also states that Steyn could be even out for 4-6 weeks, and possibly out of series.
Faf du Plessis' South Africa will be without bowler Dale Steyn who did not bowl in the fourth innings in Cape Town and has been ruled out the remainder of the series with a heel injury sustained on day two.
India lost 3-14 after lunch but Pandya, having survived a number of scares - he overturned a caught-behind dismissal on five, was dropped on 15 by Dean Elgar, and profited from a missed stumping by Quinton de Kock on 71 - ensured the tourists trailed by just 77 on first innings.
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India was chasing a target of just 208 to win, but came unstuck against South Africa's quick bowlers on the kind of fast, bouncy pitch the Indians would have been expecting to be tested on in South Africa. Six of them were in India. But the visiting batsmen capitulated, with paceman Veron Philander scalping six wickets.
India, who began the day on 28-3, looked likely to concede a hefty deficit when Cheteshwar Pujara (26), Ravichandran Ashwin (12) and Wriddhiman Saha (0) fell within six overs of the second session.
Philander struck again when Rohit Sharma was bowled off an inside edge and Rabada dismissed first innings top scorer Hardik Pandya for one, caught by a diving De Villiers at third slip.
Both teams now head to SuperSport Park in Centurion for the second test, which starts on 13 January. He managed to defend four balls from Bhuvneshwar Kumar but De Villiers was caught off Jasprit Bumrah in the next over by one of eight fielders stationed on the boundary.
Heading into the Cape Town Test, South Africa's head coach Ottis Gibson had expressed reluctance to slot him back in the squad against India as he was out for close to a year.