Vernon Philander rocked England with a double strike late in the day as he removed both England openers during a dramatic spell of two wickets for one run in 10 balls.
England were 2-16, needing a further 330 runs on the final day to reach a record victory total of 346 and maintain their No 1 status in Test cricket.
Earlier,Steven Finn took 4-74 to give the hosts a slender chance but Hashim Amla's superb 121 was the cornerstone as he stretched South Africa's second innings to 351.
3rd Test, Day 4 (Lords), Aug 2012
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2012 ENG v RSA 3rd TestSeries Tagged in ClipDex
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Finn, Steven T Prior, Matthew J Taylor, James W A Anderson, Sir James M Broad, Stuart C J Strauss, Andrew J Cook, Alastair N Swann, Graeme P Morkel, Morne Steyn, Dale W Philander, Vernon DGrounds Tagged in ClipDex
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