Skipper Darren Sammy then hit a quick-fire 32 from 28 balls, studded with one boundary and three sixes, but Yadav claimed two wickets in two balls to bundle out the visitors for 463.
It was for the first time that the West Indies scored more than 400 when following on, bettering the 1968 record of 391/9 declared against England in Kingston.
After lunch, India persisted with Ishant Sharma and Pragyan Ojha in tandem with the left-arm spinner bowling from the High Court end.
Indian captain Mahendra Singh Dhoni then brought in off-spinner Ravichandran Ashwin from High Court end, a move that yielded 12 runs with Samuels hitting a six over midwicket after Bravo's elegant boundary in the deep point region.
In Image: India's Umesh Yadav, third right, is congratulated by Rahul Dravid, second right, and others after taking the wicket of West Indies Batsman Shivnarin Chanderpaul, unseen