The back-to-back world champions led 24-22 with eight penalties from Handre Pollard when flyhalf Frawley, whose first dropped goal brought Ireland to within three points, struck a final kick from 40m to spark wild celebrations and send the Springboks crashing to their first defeat at Kings Park since 2016.
Frawley, right, said: "It's mental. This place is a fortress and it's SO loud.
The game was back and forth but the boys dug in deep. We were in our own half and managed to get up, we're delighted.
"We speak about it amongst ourselves on the bench but the lads who came on had a real impact.
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