Prior went first caught and bowled one-handed and Cook was bowled by one that kept low.
Yadav (3/70) and Zaheer Khan (2/59) complimented the spinners well by making the ball reverse in dry conditions.
Graeme Swann (17) and Tim Bresnan (20) hung on for a while with the off-spinner playing some audacious strokes. But they did not last long, Swann bowled by Ashwin reverse sweeping once too often while Bresnan was the last man to get out, caught in the covers by substitute Ajinkya Rahane.
India are now 1-0 in the four match series with the second game beginning in Mumbai Nov 23.
In Image: India's Cheteshwar Pujara jumps in air to save himself from a shot of England's batsman Matt Prior