"We thoroughly deserved to win this match," said Vaughan. "But for periods we were quite shoddy and that mustn't happen again."
Strauss batted brilliantly throughout, scoring his third century and maintaining his perfect start to Test cricket. Even so, England still needed a dynamic four-wicket burst from Simon Jones yesterday to end South Africa's fightback.
Vaughan added: "We were under a lot of pressure leading into this game. The character the guys showed when South Africa were threatening to get on top yesterday deserves a lot of credit."