South Africa were 181 for three at lunch in reply to India's first innings total of 334.
Jacques Kallis, playing in his final Test, steadied the innings in partnership with AB de Villiers and the pair added 68 in an unbroken fourth wicket partnership up until the interval.
Graeme Smith and Alviro Petersen took their opening partnership to 103 from the overnight total of 82 but were tied down by some accurate bowling, with Jadeja troubling both batsmen before Smith, on 47, went down the wicket and mistimed an attempted hit over midwicket.
Shikhar Dhawan ran back and held a good, diving catch.
Hashim Amla was bowled by Mohammed Shami for three when an inswinging delivery straightened past his bat and hit the off stump.
Kallis received a standing ovation from the crowd and a guard of honour from the Indian players as he replaced Amla. Before he faced a ball, Petersen was caught at slip off a ball from Jadeja which bounced more than he expected.
Petersen made 62 off 100 balls and hit eight fours.
He survived an appeal for a stumping by Mahendra Singh Dhoni off Jadeja when he had 53, with television umpire Adrian Holdstock viewing numerous replays before giving the batsman the benefit of the doubt in deciding part of his foot was behind the line.
Kallis was hit on the right glove by a lifting delivery from Zaheer Khan before scoring his first run against the same bowler off the 16th ball he faced.
Kallis and AB de Villiers set about rebuilding the innings and Kallis stepped up a gear when he hit two successive lofted drives for four off Jadeja, who bowled 13 overs in an unbroken spell from the start of play before switching ends when the wind changed to bowl another three overs from the northern Umgeni end.