Scorecard
Peterson reached his half-ton in just 44 balls with the help of nine boundaries.
The post-lunch session began after a delay of 15 minutes due to rain.
South Africa were 395/7 before slipping into lunch.
Zaheer Khan took his first wicket when he had Dale Steyn (44) caught behind by captain MS Dhoni.
Ravindra Jadeja registered his second five-wicket haul when he had centurion Jacques Kallis caught by Dhoni.
Kallis went for the slog sweep, but got a top edge and the ball went high up in the air for Dhoni to take an easy catch.
Kallis hit 13 fours in his 115-run knock before falling to Jadeja.
Playing his last Test, Kallis hit his 45th Test century to take South Africa past the Indian first innings score.
Kallis is only the fourth South African batsman after Pieter van der Bijl, Barry Richards and Lee Irvine to hit a century in his last Test.
This is Kallis's seventh century against India.
Kallis is second on the all-time list of century-makers in Test cricket behind India's Sachin Tendulkar, who finished with 51.
Kallis surpassed Rahul Dravid as the third highest run-getter in Test cricket during his knock.
Kallis now has 13,289 runs in the longest format.
That tally is one run more than Dravid, who retired last year after playing 164 Tests. Kallis, who is playing in his 166th Test, is now third behind Sachin Tendulkar (15,921) and Ricky Ponting (13,378) in the all-time list.
The South African, considered the best all-rounder in modern cricket, struck a fluent 115-run knock, which came off 316 balls and included nine fours, in his final Test.
Kallis announced on Christmas Day that he would retire from Tests after his 166th appearance for his country at Kingsmead -- the same ground he made his debut at as a 20-year-old prodigy in 1995.
The day's play started with Kallis and Dale Steyn resuming the South African first innings.
The cracks are still there on the pitch but they have not widened enough. The footmarks are getting bigger and will cause some problems for the batsmen. The spinners will enjoy bowling in the rough. The overcast conditions will help the pacers a bit provided they bowl well.
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2nd Test: SA stretch lead post lunch
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