Graeme Smith with 31 and Hashim Amla with 11 were batting at the break.
The South African openers, Graeme Smith and McKenzie, played cautiously to give a solid start to the visitors before Chawla got rid of McKenzie with a gem of a flighted delivery and provided the much-needed breakthough.
Earlier, South Africa captain Graeme Smith won the toss and elected to bat.
Anil Kumble was ruled out of the final Test because of a groin injury.
The 37-year-old leg spinner, India's most successful bowler, failed to recover from a groin strain, leaving one-day skipper Mahendra Dhoni to lead the team for the first time in Tests.
India included leg-spinner Piyush Chawla for Kumble and recalled fit-against paceman Ishant Sharma and batsman Yuvraj Singh.
The tourists lead 1-0 after crushing India by an innings and 90 runs on a lively pitch in the second Test in Ahmedabad, a victory that brought them close to claiming an Asian treble after wins in Pakistan in November and Bangladesh last month.
It is an unusual scenario for India, who have not lost a home series for almost four years. The last time they succumbed to a visiting team was in 2004 when Australia won the four-match series 2-1. Now captain Anil Kumble faces the same situation Sourav Ganguly had encountered then.
Stats
Teams:
India: Wasim Jaffer, Virender Sehwag, Rahul Dravid, Saurav Ganguly, Vangipurappu Laxman, Yuvraj Singh, Mahendra Dhoni (captain), Harbhajan Singh, Piyush Chawla, Shanthakumaran Sreesanth, Ishant Sharma.
South Africa: Graeme Smith (captain), Neil McKenzie, Hashim Amla, Jacques Kallis, AB de Villiers, Ashwell Prince, Mark Boucher, Morne Morkel, Paul Harris, Dale Steyn, Makhaya Ntini.
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