Dale Steyn took 5-50 as India collapsed from 267-1 to 296 all out in 48.4 overs.
Sachin Tendulkar, whose knock of 111 was his 48th century in one-day internationals, featured in century partnerships with Virender Sehwag and Gautam Gambhir that helped dominate a highly-rated bowling attack early on.
Sehwag struck 73 and Gambhir 69 but the early batting effort could not be built on because of a collapse triggered during the batting power play taken in the 39th over.