The Proteas won the toss, chose to bat and were 32-4 before recovering to 242, with Quinton de Kock making 84 and Temba Bavuma 51.

Australia replied with 244, a lead of two runs, with David Warner making 97 and Shaun Marsh 63. Vernon Philander took 4-56 and Keshav Maharaj 3-56 on debut.

Dean Elgar made 127 and JP Duminy 141 in the second innings, and South Africa declared on 540-8 after lunch on day four, setting a target of 539.

Usman Khawaja fell for 97, lbw to Duminy’s off-spin, and Peter Nevill was unbeaten on 60 as Australia were bowled out for 361.

Kagiso Rabada took 5-92 in the second innings, his fourth five-wicket haul in only his ninth Test, and was named Player of the Match.

Maharaj took his first Test wicket when Steve Smith was lbw in the first innings, and ended the match by trapping Nathan Lyon in front.

It was Australia’s first home Test defeat to open a season since 1988 and their fourth straight Test loss, following a 3-0 sweep in Sri Lanka.