Opening batsman Alviro Petersen hit a career-best score on Friday to steer South Africa to 6-336 at lunch on day two of the second Test against England at Headingley.

Petersen was unbeaten on 170, from 345 balls with 21 fours, while JP Duminy was 10 not out.

After solid bowling by England’s seamers, it was part-time spinner Kevin Pietersen (1-14) who made the breakthrough when he had Jacques Rudolph stumped off his second delivery.

Petersen beat his previous Test best of 156 against New Zealand in Wellington in March.

There was irony for England when Pietersen struck with his second delivery after coming on in the 111th over of the innings.

England left out front-line spinner Graeme Swann, opting for four specialist seam bowlers. But the quick men could not make a breakthrough despite bowling accurately in overcast conditions as Petersen and Rudolph ground out a sixth-wicket stand of 59.

Finally England captain Andrew Strauss tossed the ball to Pietersen, whose second ball spun sharply past the bat as the left-handed Rudolph stretched forward defensively.

Wicketkeeper Matt Prior whipped off the bails and third umpire Asad Rauf ruled the batsman had not been able to get part of his foot behind the line in time.

James Anderson and Stuart Broad sent down six successive maidens at the start of the day.

In the fifth over, Petersen was given out leg before wicket to Anderson by umpire Steve Davis without adding to his overnight score of 124 but, for the second time in his innings, he called for a review and was reprieved when replays showed the ball would have missed his leg stump.