"When he (Morne Steyn) cracked that ball I was pretty happy, " said the captain.
Morne Steyn's injury-time penalty earned the Springboks a dramatic 28-25 victory and sealed a 2-0 series win.
Morne Steyn took over the kicking in the second half and he was successful with his first attempt to make it 17-3.
Last weekend's match-winner Morne Steyn starts in place of fly-half in place of Ruan Pienaar, who has paid for his poor goalkicking form.
South Africa's points came from Morne Steyn with a penalty and drop-goal as well as converting a fine try by captain John Smit.
The hosts were fortunate to be 6-6 at half-time, courtesy of Toby Flood, as South Africa dominated but managed only two Morne Steyn penalty kicks.
Morne Steyn slotted the conversion and, despite having been outplayed for much of the half, the visitors went in at the break trailing just 13-7 after Carter missed yet another penalty chance.
No Bryan Habana, arguably the most dangerous wing in world rugby, no Schalk Burger, no Bakkies Botha, Pierre Spies, Fourie du Preez, Morne Steyn, JP Pietersen, Jean de Villiers or Juan Smith.
However, the Springboks maintained their attacking momentum two minutes into the second half as Morne Steyn put the tourists in front for the first time in the match when Tindall was penalised at the breakdown.
The Springboks stepped up their physical intensity as England began to wilt, allowing winger Mvovo to burst through a weak tackle from Chris Ashton and touch down for his first Test try, converted by Morne Steyn.
The All Blacks rallied as winger Sitiveni Sivivatu ran over for their first try and Carter successfully kicked the conversion and a penalty to cut the margin to seven points, but Morne Steyn kept the Springboks ahead with a second penalty.
Morne Steyn finally levelled the scores on 36 minutes following an England infringement at the ruck, but the fly-half spurned the opportunity to take a three-point lead at the interval when he uncharacteristically dragged a 25m drop-kick attempt wide of the posts.
Indeed it was Carter who made a crucial error as South Africa raced into a 29-12 lead when his attempted pass to Isaia Toeava was collected by Jean de Villiers, who sprinted away to score unopposed and Morne Steyn was able to convert.
The Springboks ran in four tries in Udine as Italy paid for an early yellow card to Simone Favaro as wing Bryan Habana crossed for a try after Morne Steyn hit the post with the penalty kick from in front of the posts.
Springbok fly-half Morne Steyn gave his side hope with a third penalty but Lions stand-off Stephen Jones kept the home side at bay with two kicks of his own, and Odwa Ndungane's late disallowed try for a foot in touch compounded South Africa's misery.
Cooper's previous good disciplinary record was one factor taken into consideration, but the 22-year-old will now miss next Saturday's match against New Zealand in Melbourne and the 7 August Bledisloe Cup test in Christchurch following his spear tackle on opposite number Morne Steyn, for which he was sin-binned.
But despite dominating territory and possession, the world champions spent the majority of the first half trailing England, with Morne and Francois Steyn both rattling the woodwork with penalty attempts.
India began the day on 183-6 but their tail was quickly blown away by the lethal pace duo of Steyn and Morne Morkel.
Resuming on 50-2, Alastair Cook batted well for 60, but Kevin Pietersen and Ian Bell fell cheaply as Dale Steyn and Morne Morkel made England suffer.
And whereas England's bowlers have struggled throughout the match, and grown frustrated by perceived umpiring injustices, South Africa's opening pair of Dale Steyn and Morne Morkel once again looked dangerous from the word go.
BBC: England on course for heavy defeat in Johannesburg Test
Dale Steyn, Morne Morkel, Paul Harris and Lonwabo Tsotsobe all failed to take a single wicket before lunch while Chanderpaul and Bravo played it safe, despite the favourable batting conditions, to eke out only 39 runs in 26 overs.
Denied the alacrity of Dale Steyn through injury, South Africa recalled Nel while Morne Morkel, taking the new ball in Steyn's absence, made the most of the pitch, offering openers Andrew Strauss and Cook little width with a probing line around both left-handers' off stump.
Tsotsobe held a catch over his head to oust Haddin and give Parnell a maiden wicket, and substitute Steyn took the winning catch off the bowling of Morne Morkel.
Fast bowlers Steyn and Makhaya Ntini claimed two wickets each with Morne Morkel and Jacques Kallis taking one apiece to get South Africa back into the match after Australia had resumed on 303-4.
India started positively in reply, however, and Gambhir hit Morne Morkel for boundaries in successive overs, while Sehwag whipped Dale Steyn through midwicket for his first four.
The hosts, who won the toss, got off to a disastrous start in Barbados when Dale Richards was trapped lbw by Morne Morkel for a duck before captain Chris Gayle dragged on from Steyn to leave his team on 21-2.
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