Rabada called on all the players in the tournament to seize the moment.
It was Rabada's 14th five-wicket haul in his 61st Test and his fourth in eight Tests at Centurion, but his first against India.
India were 208 for eight when bad light followed by rain brought an early close.
Kohli and Iyer went on to add 68 for the fourth wicket before both were dismissed in an inspired three-wicket spell by Rabada immediately after lunch.
The World Cup moves to Mumbai with two of the heavyweights feeling the pressure and needing to bounce back from shock defeats faced in the previous round of the mega event.
The fiery Rabada took six wickets for 50 runs as South Africa bowled out the tourists for 159 after the West Indies had been set a target of 247 to win
Fast bowlers Sisanda Magala, Anrich Nortje and Kagiso Rabada earned South Africa a dramatic 27-run win in the first one-day international against England at the Mangaung Oval in Bloemfontein on Friday.
South Africa skittled England out for 149 on Friday to win the first Test by an innings and 12 runs inside three days at Lord's and go 1-0 up in the three-match series.
South Africa could be without fast bowler Kagiso Rabada for their final warm-up match ahead of next week's first Test against England at Lord's.
Rabada called on all the players in the tournament to seize the moment.
It was Rabada's 14th five-wicket haul in his 61st Test and his fourth in eight Tests at Centurion, but his first against India.
India were 208 for eight when bad light followed by rain brought an early close.
Kohli and Iyer went on to add 68 for the fourth wicket before both were dismissed in an inspired three-wicket spell by Rabada immediately after lunch.
The World Cup moves to Mumbai with two of the heavyweights feeling the pressure and needing to bounce back from shock defeats faced in the previous round of the mega event.
The fiery Rabada took six wickets for 50 runs as South Africa bowled out the tourists for 159 after the West Indies had been set a target of 247 to win
Fast bowlers Sisanda Magala, Anrich Nortje and Kagiso Rabada earned South Africa a dramatic 27-run win in the first one-day international against England at the Mangaung Oval in Bloemfontein on Friday.
South Africa skittled England out for 149 on Friday to win the first Test by an innings and 12 runs inside three days at Lord's and go 1-0 up in the three-match series.
South Africa could be without fast bowler Kagiso Rabada for their final warm-up match ahead of next week's first Test against England at Lord's.
Marnus Labuschagne's reign as the highest-ranked Test batter in the world is over as England right-hander Joe Root claimed top spot on the latest ICC MRF Tyres Men's Test Batter rankings.