The 30-year-old Vijay (122 not out) notched up his his fourth Test century and batted right through the day to steer the visitors to a comfortable position after being reduced to 107 for three just at at the start of the second session at Trent Bridge.
Captain Mahendra Singh Dhoni (50 not out off 64 balls) was giving Vijay company at close on an absorbing opening day's play.
The duo shared unbeaten 81 runs for the fifth wicket, digging India out of trouble after some fine rearguard fourth-wicket partnership of 71 runs between Vijay and Ajinkya Rahane (32 runs off 81 balls, 4 fours) in the post-lunch session.
But India witnessed a scare just after lunch as they lost Cheteshwar Pujara (38 off 69, 7 fours) and Virat Kohli (1) in quick succession to reel at 107 for three at one stage.
James Anderson (2/70), Stuart Broad (1/26) and Liam Plunkett (1/56) were the only wicket-takers for England.
The dismissal brought an end to their 71-run fourth-wicket stand that lasted 27.1 overs and saved India the blushes.
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