Reeling at 18 for five, Rahane and Saha consolidated India's innings by sharing an unbeaten 159-run stand for the sixth wicket to brighten India's chances of winning the two-match series 2-0.
India A won the first 'Test' by an innings and 13 runs at Rustenburg.
At tea, Rahane was batting on 85 while Saha was unbeaten on 75, even as India A required another 130 runs for victory with five wickets remaining.
Cheteshwar Pujara, who resumed today on 2, failed to add to his overnight total as Jutin Ontong ran him out.
Hendricks, who dismissed opener Murali Vijay (2) yesterday, accounted for the other three wickets -- overnight batsman Shahbaz Nadeem (5), Dinesh Karthik (0) and Ambati Rayudu (1) -- to leave the Indians in tatters, before Rahane and Saha came to the team's rescue.
While Rahane took 148 balls and hit 10 fours, Saha's knock came off 162 balls and included 11 fours.
Earlier, India's first innings folded for a meagre 201 in reply to South Africa's 341. In the second essay the Proteas declared at 166 for five to set the visitors a stiff target.
Brief Scores (At Tea): South Africa A: 341 & 166 for five decl (Dean Elgar 34, Shahbaz Nadeem 3/56).
