Punjab could not exploit the home advantage as they failed to overhaul the Rajasthan first innings total of 222 after beginning the day at 20 for one.
Rajasthan then reached 56 for one in their second innings to take their lead to 63 at stumps on day two at PCA stadium.
Baltej Singh trapped Dishant Yagnink (32) after the Rajasthan opener had added 47 runs for the first wicket with skipper Vineet Saxena, who was batting on 16 and giving him company was Deepak Chahar (7).
In the morning session, it was left-arm paceman Aniket Chaudhary, who got the breakthrough for Rajasthan when he removed overnight opener Karan Goel (19).
Pankaj (5/45) scalped rival skipper Mandeep Singh (25) while Chaudhary added more wickets to his tally by claiming Uday Kaul (5) and Gurkeerat Singh (40).
However, Gurkeerat added 89 runs for the fifth wicket with Ravi Inder Singh, who top scored for the hosts with a fighting 85 off 204 balls.
Also Read
Ravi had began the day on his individual overnight score of seven and was castled by Ritu Raj Singh.
Pankaj then ran through the lower-middler order of Rajasthan, claiming Amitoze Singh (0), Siddarth Kaul (1) and Sandeep Sharma (8).
Rituraj Singh claimed his second wicket by bowling Rahul Sharma (14).
Brief Scores:
Rajasthan: 222 and 56 for 1 in 17 overs.
Punjab 1st innings: 215 all out in 78.4 overs. (Ravi Inder Singh 85; Gurkeerat Singh 40; Pankaj Singh 5/45).