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Keegan Petersen top scored with 72 runs for South Africa.
His teammates failed to offer much support as India crashed from 141/4 with Rabada claiming four wickets and Jansen, three.
We should not forget that he has done something that none of his critics have done so far - winning a match single-handedly with his bat in a Test in Australia.
Captain Dean Elgar inspired the hosts with an unbeaten 96.
Determined batting by captain Dean Elgar took the hosts to 118/2 at stumps on the third day, needing 122 to win with eight wickets in hand.
South African batters dug their heels in to reach within 122 runs of a series-levelling victory against a determined India as the second Test seemed poised for a gripping fourth day finish.
Thakur sent back Temba Bavuma (51) to record his maiden five-for in the longer version.
Pujara and Rahane got out off consecutive deliveries from South Africa's pacer Duanne Olivier on the opening a day of the second Test.
Stand-in captain K L Rahul made a fighting 50 for India.
India have recorded two wins and three draws in their previous five Tests at the Wanderers.