Kohli was unbeaten on 83 and Rahane was 52 not out in moving India's second innings to 190-4 from 57-4.Kohli has stroked 10 fours off 153 deliveries, and Rahane five fours off 152 to bat South Africa out of the game.
South Africa pace bowler Morne Morkel grabbed three wickets to put India in relative trouble early on, but Kohli and Rahane ground down the bowlers.
India, which took a 213-run first innings lead in this game, already has a winning 2-0 lead in the series.
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