Extending its rising streak for the second straight session, the 30-share index was up by 104.82 points, or 0.50 per cent, to 21,184.54 with all the sectoral indices, led by capital goods and oil and gas, trading in positive territory, rising up to 1.11 per cent.
The Sensex had gained 371.10 points in the previous session.
The wide-based NSE Nifty also moved up by 31.55 points, or 0.50 per cent, to 6,305.80.
In the Asian region, Hong Kong's Hang Seng Index rose by 0.68 per cent in the morning trade today, while Japan's Tokyo stock exchange remained closed for a public holiday.
The US Dow Jones Industrial Average gained 0.26 per cent to close at fresh record highs in Friday's trade.