KL Rahul and Rohit Sharma completed the 50 of their partnership early on Day 3.
Rohit Sharma survived a run-out chance when he was on 28.
When on 31, Rohit Sharma survived another half-chance when Rory Burns put down a tough chance at second slip.
Chris Woakes bowled the best spell of the opening session but didn't get a wicket.
James Anderson, in his second spell of the session, managed to end the 83-run opening stand when he dismissed Rahul for 46.
Cheteshwar Pujara began the second session with a flurry of boundaries through the point region.
Rohit Sharma completed his 8th Test ton with a lofted six off Moeen Ali.
It was Rohit Sharma's first century away from home in Test cricket.
Rohit Sharma and Cheteshwar Pujara stitched a century stand in a wicketless second session for India.
Cheteshwar Pujara completed his half-century early in the final session.
The game turned when Ollie Robinson dismissed both set batsmen in the first over with the second new ball.
Only 12 overs of play were possible with the second new ball before bad light brought a premature end to proceedings. India lead by 171 with 7 wickets in hand.