Murali Vijay stood firm as India closed on 169-4 in their second innings, a lead of 145, on day three of the second Test against England at Lord's.
Opening batsman Vijay's 59 not out came off 190 balls and ensured the tourists were able to weather the loss of three quick wickets midway through the evening session.
India had made a steady start to their second innings, quickly wiping out a deficit of 24 to reach tea at 84-1, Shikhar Dhawan (31) cutting to Joe Root at backward point as Ben Stokes (1-35) made England's only breakthrough.
But the tourists were wobbling when Liam Plunkett struck twice in as many balls to liven up the final session
Plunkett ended a second-wicket stand of 78 by having Cheteshwar Pujara (43) caught behind and bowled Virat Kohli - offering no stroke - for a golden duck.
Stuart Broad soon followed up with the wicket of first-innings centurion Ajinkya Rahane (5), caught by Matt Prior after failing to control a short delivery, although replays showed a clear error from umpire Bruce Oxenford as the ball looped up off arm guard rather than the glove.
Vijay and his skipper MS Dhoni dropped anchor through to stumps, Dhoni (12no) surviving a working over from Plunkett (2-24) and Broad (1-41) to leave the match finely poised.
On 219-6 overnight, England were bowled out for 319 before lunch with Kumar accounting for two of the wickets.
Plunkett and Prior extended their seventh-wicket stand to 51 before Prior's departure for 23, bounced out by Mohammad Shami (1-58) to continue his recent troubles against the short ball, sparked a collapse.
Kumar bowled Stokes between bat and pad for a duck to complete his five-wicket haul and followed up by having Broad caught by Dhawan at first slip later in the same over.
Broad carved his first ball for four through backward point but immediately fell attempting to repeat the shot.
Last man James Anderson - fresh from his 81 in the drawn series opener at Trent Bridge - joined Plunkett and both went on the attack to see England past India's first-innings 295.
Plunkett brought up his 50 from 75 balls, including eight fours, and was left stranded on 55 not out when Anderson (19) gloved an attempted reverse sweep to give spinner Ravindra Jadeja (2-46) the final wicket.