Mishra removed Peter Siddle for a duck to complete his five-wicket haul.
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Mishra took five for 71 to help dismiss Australia for 268 and give India a vital 201-run first innings lead.
The 25-yeaer-old, playing only because of skipper Anil Kumble's absence due to injury, became the sixth Indian bowler to take a five-wicket haul in his debut Test.
Virender Sehwag was 53 not out and Gautam Gambhir was on 46 as India raced to 101 for no loss before close of play to stretch their lead to 301 runs.