Dale Steyn denied David Warner a series-opening century and triggered a top-order collapse on Friday but South Africa's joy was tempered when the pace spearhead went off with a shoulder injury on day two of the first test against Australia.

Australia had resumed on 105 without loss on another glorious day at the WACA but the hosts stumbled to the lunch break at 181-4, still trailing by 61 runs, as South Africa's bowlers rallied after a tough introduction late on day one.

Adam Voges was 10 not out, with lunch brought forward after Vernon Philander had opener Shaun Marsh lbw for 63.

Warner and Shaun Marsh had pushed the home side to 158 before Steyn intervened, dismissing the vice-captain for 97 with a teasing delivery that nicked the bat and was caught by Hashim Amla at slip.

In his next over, however, Steyn grabbed at his right shoulder on his follow-through and after crouching in discomfort for a moment, went straight off the ground and spent the rest of the session in the dressing room wearing a compression pack.

Steyn's loss did little to break the tourists' concentration, however, as exciting talent Kagiso Rabada bowled Usman Khawaja through the gate for four with a sublime late-swinging ball soon after.

Left-arm spinner Keshav Maharaj then captured a memorable first wicket on debut, trapping Steven Smith lbw for a duck as he skipped down the wicket.

Umpire Aleem Dar immediately gave the Australian captain out but Smith reviewed the decision just as quickly, only for the ball-tracking technology to show it clipping the outside of off-stump.

Australia lost their second review when Marsh was given out lbw in the final over before lunch and South Africa left the ground in high spirits after being comprehensively outplayed on day one.