Kagiso Rabada was involved in a half-century stand with Dean Elgar to help South Africa past 300.

Nathan Lyon accounted for the last two wickets as South Africa were bowled out for 311.

Dean Elgar joined West Indies legend Desmond Haynes as the only two cricketers to have carried the bat three times in Test cricket.

Kagiso Rabada ended a positive outing of David Warner by sending the off-stump cartwheeling.

Morne Morkel bagged the wickets of Usman Khawaja and Steven Smith on either side of the lunch break.

Cameron Bancroft scored a gritty half-century and put on a good stand with Shaun Marsh to steady Australia.

With the dismissal of Shaun Marsh, Morne Morkel bagged his 300th Test wicket.

Vernon Philander struck on either side of the tea break to leave Australia reeling.

Kagiso Rabada added to Australia's woes, leaving the visitors eight down.

Tim Paine and Nathan Lyon frustrated South Africa with a defiant ninth wicket stand.