In reply, South Africa was 39 for 1 at the end of play on Day 1.
Rabada's first wicket was the crucial scalp of Steve Smith - lbw for 25 - and there has been speculation that he could face further disciplinary action for the vehemence of his celebration, which saw the pair brush shoulders. "I play with aggression on the field and I try not to cross that line and it has been in the past that I have sort of been fiery", he said.
Warner's and de Kock's confrontation wasn't the only heated moment in the opening test, which was characterized by an aggressive fielding display by Australia and verbal exchanges between the teams that carried on off the field.
Rabada will need to prove contact with Smith wasn't intentional if he is to play again in this series.
"I imagine it will be very hard for him to keep his job as vice-captain if he gets suspended", Clark said on Fox Sports News."Because it means he's bringing the game into disrepute and he's also bringing Cricket Australia into disrepute".
It could have been much worse, though, had Paine not physically restrained a furious Warner, who the visitors allege was provoked by De Kock's comment about the opener's wife.
Smith had raised eyebrows at the toss with his decision to bat in what were clearly bowling conditions, but stated that if the batsmen could get through the first hour a big first innings score is on the cards.
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The only wicket to fall was that of nightwatchman Rabada, who was bowled by Cummins for 29 in the ninth over of the day.
The hearing will be conducted by International Cricket Council match referee Jeff Crowe. "The Australian team understands that fans expect better".
Cricket Australia (CA) have told their under-fire team the unsavoury incident involving opening batsman David Warner during the first Test against South Africa was unacceptable and warned them about their behaviour for the rest of the series.
The 22-year-old fast bowler completed his eighth "fifer" in just his 28 Test when bowled Mitchell Starc with teh seamer now standing on 129 wickets at an average of close to 22. Smith was given out by the umpire and the Aussie captain straightaway went for the review.
South Africa continued to claw their way back into the game after lunch as Usman Khawaja suffered the same fate as Bancroft, while Warner was clean bowled by Lungi Ngidi for 63, which came off 100 balls and included nine boundaries.
Had Warner fronted up he might have been banned from playing in the second Test.