England were all out for 420 in their second innings, setting India 231 to win the opening test at Rajiv Gandhi International Stadium on Sunday.
Ollie Pope was the last England batter out at the stoke of lunch on day four after his sublime 196, which contained 21 fours.
England risked defeat inside three days before vice-captain Pope dug his heels in to produce one of the finest knocks by a touring batter in India.
He got strong support from the England tail with Rehan Ahmed (28) and Tom Hartley (34) producing useful cameos to set India a tricky target on a spinning track.
Jasprit Bumrah (4-41) dismissed Ahmed after play resumed on day four, but debutant Hartley continued to frustrate the home side while Pope continued accumulating runs at the other end. Pope got a life on 186 when KL Rahul dropped him in the slip off Mohammed Siraj.
Ravichandran Ashwin (3-126) eventually dismissed Hartley and Bumrah ended Pope's vigil when he uprooted the off-stump after the batter had attempted a reverse-scoop.
Jack Leach was seen hobbling, having injured his knee while fielding but England will hope the left-arm spinner is available to bowl.
The tourists will also take heart from Joe Root's first-innings figures of 4-79 in the part-time spinner's role.
