England skipper Michael Vaughan said he was pleased with his side's performance in the first Test, despite South Africa holding out for a comfortable draw.
Hashim Amla hit an unbeaten 104 and Neil McKenzie 138 as the tourists made 393-3 after being made to follow on.
Vaughan said: "We've started the series really well. To get South Africa on the back foot as we did on the first three days - I can't ask any more.
"The last six Lord's Tests have been draws - it's hard to win here."
South Africa seldom looked troubled on the final day as England searched for the nine wickets they needed.
James Anderson eventually dislodged McKenzie after lunch, and although Ryan Sidebottom yorked Jacques Kallis for 13 before tea, England could not dislodge Amla and Ashwell Price.
Vaughan said: "They batted really well in their second innings - that opening partnership was something special.
"But we played a really good game. We have to try to build on that.
"We know South Africa are a good side and it's going to need that kind of performance to beat them. We've started well but we need to continue in the same vein."
E-mail this to a friend 
Printable version 
Bookmark with:
What are these?