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Resuming at 62 for two, skipper Ajinkya Rahane (37) was watchful till he went for a flashy drive off Mitchell Starc and ended up getting caught in the slip cordon.
Before his dismissal, Cheteshwar Pujara (25) fell to a peach of a delivery off Josh Hazlewood in the opening session.
In the second session, India lost Mayank Agarwal (38) and young Rishabh Pant (23) and innings seemed to be falling apart but Washington and Thakur resisted the Australian attack with aplomb.
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Brief Scores:
Australia 1st innings: 369 all out 115.2 overs (M Labuschagne 108; T Paine 50, M Wade 45; T Natarajan 3/78, S Thakur 3/94, W Sundar 3/89).
India 1st innings: 336 all out in 111.4 overs. (S Thakur 67, W Sundar 62, R Sharma 44; J Hazlewood 5/57, M Starc 2/88).