Indian batsman Rahul Dravid steered India to the first 300 total of the Test series against England but they still fell 291 short of the hosts' first innings total, meaning England enforced the follow-on.
Dravid, 38, ended on 146 not out but could do little to stop the flow of wickets at the other end.
The tourists began the day on 103-5 but lost their first wicket of the fourth day when captain MS Dhoni (17) edged a James Anderson delivery to Prior.
Dravid completed his third hundred of the series before lunch, manufacturing a partnership with Mishra (43) before he was caught by a diving Ian Bell after playing a pull shot.
Stuart Broad then had opener Gautam Gambhir, who was batting further down the order because of injury, caught by Pietersen.
India reached 300 but got no further with RP Singh (25) and Sreesanth (0) departing before any more runs were put on the board.
As India were more than 200 short of England's first innings total of 591 they were forced to follow on and Dravid came straight back out to the middle.
They ended the second session on 25-0, with Sehwag (16) and Dravid (7) at the crease.
Pascal Lemesre
