Bajrang lost 1-3 to Massoud Mahmoud of Iran in the finals of men's 61kg category to settle for a silver while Narsingh got the better of Daisuke Shimada of Japan 3-1 in the men's 74kg division to finish third on the podium at the Dowon Gymnasium here.
Pawan Kumar though went down fighting in his repechage bout in 86kg division to crash out of the event.
Bajrang soon made it 2-2 by pinning his opponent down in the beginning of the second half. Massoud once again surged ahead but Narsingh quickly levelled it 4-4 with just 35 seconds to go for the bout.
The Indian, however, failed to capitalise on the advantage even as the Iranian held on to his nerves to earn two more points in the dying seconds of the match to grab the yellow metal.
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Narsingh, who has been selected in the absence of two-time Olympic medallist Sushil Kumar in 74kg freestyle, prevailed over his stronger Japanese opponent in a hard-fought contest.
Earlier, on the way to the finals, Bajrang had beaten Tumenbileg Tuvshintulga of Mongolia 3-1 in the Round of 16 before registering victory by technical superiority 4-1 over Tajikistan's Farkhodi Usmonzoda in the quarters.
The semifinal bout against Japan's Noriyuki Takatsuka turned out to be a neck-to-neck battle. There was little to separate between the two other than the fact that the Japanese was a bit quicker on his feet.