Virat Kohli returned from injury as he won the toss and chose to bat in the final Test in Cape Town.
Dean Elgar smashed 96* to help South Africa win for the first time against India in Johannesburg.
The Indian cricket team will be aiming to end 29 years of pain as they look to win a Test series in South Africa for the first time.
India will play only three Tests and three ODIs in the tour of South Africa, with the four T20Is postponed as the tour is set to begin from December 26.