It was a potentially a game-changing moment in the innings with South Africa on 16-1 at the time and struggling.
"Hopefully we can kill off that target as soon as possible", South Africa's Temba Bavuma said, recognizing that the pitch was "tricky". He went on to make 50 and share a 119-run partnership for the second wicket with Amla.
Only Babar Azam provided any resistance for Pakistan with 71.
Pakistan made an ideal start when Hasan Ali trapped Aiden Markram leg before wicket before a run had been scored. Pakistan was 111-8 when those two came together. Olivier, playing just his sixth test and first in over a year, was only in South Africa's lineup after injuries to quick bowlers Vernon Philander and Lungi Ngidi.
South Africa will now be looking to wrap up a series win with a game to spare when they welcome Pakistan to Cape Town for the second Test, live on Sky Sports Cricket from 8.25am on Thursday, January 3.
Fakhar Zaman's wicket was the only wicket to fall in the second session, and the hard-hitting opener would be terribly disappointed with the way he was dismissed; hitting a poor Olivier delivery down the leg side straight to deep fine leg.
Steyn, who was hoisted on to the shoulders of Kagiso Rabada in celebration, said: "When I was standing there at the top of my mark and everyone was standing up, I nearly had a tear, a lump in my throat because I didn't think it would happen". "Very pleased. Very happy".
"On all different wickets around the world he's been absolutely superb, " Pollock said, "and what those figures don't tell is he's a fantastic guy as well".
Steyn, 35, has been plagued by injury in the twilight of his career.
It has taken Steyn 89 Tests to reach that mark, 19 fewer than his former team-mate, and his strike rate of a wicket every 42.1 balls is only bettered among current players by compatriot Kagiso Rabada (39.2).
Steyn is up to 11th on the all-time list of test wicket-takers, nine behind Richard Hadlee.