Johannesburg: South Africa ended day-1 at 35/1 after bowling out India for 202 runs in the second Test here on Monday.
Earlier, Marco Jansen bagged four wickets and Rabada claimed three as the hosts controlled the proceedings.
Indian innings bundled out for just over 200 runs from 146/5 at tea.
Stand-in captain K L Rahul had made a fighting 50 while R Ashwin scored 46 runs.
Having given up hopes of playing for England, Olivier, who played his first Test in Proteas colour after three years, removed Cheteshwar Pujara (3 off 33 balls) with extra bounce and then with slight seam movement had Ajinkya Rahane (0) caught at slips off consecutive balls in the first session.
It left stand-in Rahul with all the fire-fighting on his captaincy debut.
Mayank Agarwal (26) looked fluent in the first hour with five boundaries before Jansen pitched one in the spot from where it wasn't on drivable length as it climbed on. The opener went for a drive only to edge that to wicketkeeper Kyle Verreynne.
Rahul on his part survived strong caught behind and leg before appeals which were negated by debutant umpire Allahudien Palekar, someone who impressed on debut.
The start wasn't great for India as they could not have skipper Kohli in the playing XI due to back spasms but Rahul couldn't blamed for electing to bat first and make best use of difficult conditions.
Till Agarwal was giving him company, the openers just like Centurion, looked good but once he was gone, Pujara once again got into a shell and was very uncomfortable against steep bounce which finally became his undoing.
Olivier's natural back of length deliveries were perfect recipe for disaster as he fended one that was wide of short leg fielder but the next one lobbed up to point fielder for an easy catch.
Rahane's dismissal was that of a player, whose confidence has been torn to pieces. The ball pitched on fourth stump channel with a shade cut-back that creates indecision on whether to play or not. Rahane dangled his bat and the catch was taken in the slips.
