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The Indian bowlers leaked 80 runs in the last five overs as Glenn Maxwell's 48-ball-104 not out took the visiors home off the final ball.
Australia would have needed 26 instead of 21 off the final over bowled by Parisdh Krishna if not for Kishan's mistake.
With this win, Australia managed to cut India's series lead to 2-1 in the five-match rubber.
Mumbai Indians have traded their all-rounder Cameron Green to RCB in an all cash deal.
India rode on aggressive fifties by Yashasvi Jaiswal, Ruturaj Gaikwad and Ishan Kishan to reach 235/4 after being put in to bat.
Both sides, who have many regular players missing in their ranks, will take Sunday's clash as another step towards finding the right mix ahead of next June's T20 World Cup.
Yadav made 80 off 42 to help India win after Josh Inglis fired Australia to 208/3 with a 50-ball 110.
Rohit hasn't played a single game in the shortest format since India's T20 World Cup semifinal exit last November.
As the captain of the side, Surya will not only want to win the series but also check out some of the best young Indian exponents of the shortest format.
Opener Ruturaj Gaikwad has been named as vice-captain for the series.