Steyn took five wickets for just three runs in a dramatic spell after tea on the third day to bowl India out for 233 in their first innings, despite a fighting century by Virender Sehwag.
He then took his eighth wicket of the match when he dismissed Sehwag for 16 after India had followed on to leave the home side struggling at 66 for two at the close.
In Images: Dale Steyn celebrates M Vijay's wicket.