Kevin Pietersen made a patient 41 but fell to Sachin Tendulkar's first ball just before tea, ending a 78 stand from 27 overs with Paul Collingwood (62).
Gambhir's 167-ball vigil came to an end 45 minutes after tea when he fell to a return catch by Yardy off a top edge having added 40 in 13 overs for the third wicket with Dravid.