Alastair Cook and Joe Root led the England fightback after Quinton de Kock’s maiden Test century had helped South Africa post 475 in their first innings.
De Kock, in his eighth Test, was dropped three times but reached an entertaining hundred from 104 balls to put the hosts in command of the Fourth Test.
England had claimed two early wickets in five balls but left-hander De Kock shared stands of 50 and 82 and was unbeaten on 129 as his team made 475.
In reply, the pace of Kagiso Rabada accounted for Alex Hales (15) and then Nick Compton on 19 as the Proteas looked to confirm their dominance.
Cook and Root, however, held firm to finish Day Two on 67 and 31 respectively, with the Tourists reaching stumps on 138-2, still trailing by 337 runs.
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