Close - England 154-7, lead by 36
Pope hits fine 67 before he is caught behind off Rabada
Jansen removes Lees, Crawley, Root & Brook; Nortje has Stokes caught in slips
Robinson takes superb five-wicket haul, Broad claims four and Anderson one as South Africa bowled out for 118
Day one washed out and day two cancelled after death of Queen Elizabeth II
Today at the Test highlights on BBC Four at 19:00 BST
Mark Ramprakash
Former England batter on BBC Test Match Special
England have performed brilliantly in the first hour. They've taken all their chances and everything is going exactly to their plan.
Zondo 6, Mulder 2
A better over for South Africa as they just tick the score along.
After a first hour that has certainly belonged to England, the players take a drinks' break.
Ollie Robinson has been very, very good on his return to the England Test team.
Zondo 5, Mulder 0
This is going to be a challenge for South Africa now, as neither Khaya Zondo or Wiaan Mulder played in the first two Tests and therefore are short of match practice.
And they are facing some exceptional bowling.
Mark Ramprakash
Former England batter on BBC Test Match Special
Another excellent delivery from Robinson, angled in, Verreyne did not do a lot wrong.
Today it is just doing enough, the batters are putting the bat there and England bowlers are finding the edge.
Verreyne c Foakes b Robinson 0 (SA 32-5)
And another! England have been brilliant, and particularly Ollie Robinson, who has his third wicket as Kyle Verreyne lasts just two balls and goes for a duck.
It's a familiar dismissal for South Africa batters this morning, as Verreyne prods uncertainly at another good length ball and edges it through to the keeper. South Africa are in trouble.
Mark Ramprakash
Former England batter on BBC Test Match Special
Sometimes you just stand there as a batsman in pure disappointment. It drew him forward and took the edge.
Rickelton c Foakes b Broad 11 (SA 31-4)
What a response from Broad!
Having just been hit for four, Broad corrects himself with a very full delivery that forces Ryan Rickelton to play and it takes a very faint edge through to Ben Foakes.
There isn't much of a noise or an appeal but Broad celebrates immediately and the batter walks. This is exactly the start Ben Stokes would have wanted when he chose to bowl first.
Stuart Broad replaces James Anderson for his first over of the day.
He doesn't quite find the same level of consistency though, as he bowls too short and wide and Ryan Rickelton helps himself to four runs, cut past point.
Mark Ramprakash
Former England batter on BBC Test Match Special
Most top orders are struggling and my own opinion is it is because of the prevalence of the shorter formats.
A maiden from Ollie Robinson, as South Africa are continue to play defensively and allow things to settle down after losing three quick wickets.
Stephan Shemilt
BBC Sport chief cricket writer at the Kia Oval
Like many others, I paid a visit to Buckingham Palace yesterday. Jack Leach and Zak Crawley were there, so too umpires Richard Kettleborough and Martin Saggers.
Another tidy over from Anderson, who is bowling really nicely in tandem with Robinson here.
There have barely been any bad balls for South Africa to score from.
Here's how Jimmy Anderson and Ollie Robinson got the early wickets of the South African openers.
Khaya Zondo is the new batter and he prods uncertainly at his first ball, which takes the edge but it just drops short of second slip.
This has been a beautiful spell of bowling from Ollie Robinson so far.
Vic Marks
Former England spinner on BBC Test Match Special
It was a terrible leave, Robinson has to pitch it up to hit the stumps as he is so tall but that was always too close to leave and it thudded into off stump.
Petersen b Robinson 12 (SA 21-3)
Robinson has two! An ill-judged leave from Keegan Petersen gifts England their third of the morning.
Having just been hit for four, Robinson is delighted. But it's really through Petersen's error, as it was a pretty standard delivery to defend but he offers no shot, and the ball nips back slightly to take his off-stump.
England's fine start continues.
Isa Guha
Former England bowler on BBC Test Match Special
There's been a real sense of a bit of spark returning to England with Robinson in that last game, he's a lot fitter and leaner now.
Keegan Petersen plays a lovely drive through the covers for the second boundary of the day as Robinson just bowls a little bit too full.
He looks frustrated, but he has bowled excellently this morning.
Petersen 8, Rickelton 6
A couple of singles off Anderson's third over as South Africa just continue to rebuild after the early wickets of their openers.
It is still swinging but the pitch looks good for batting, so if they can see off the new ball spell from Anderson and Robinson, South Africa could build a decent first innings score in this three-day contest.