Mohammad Hafeez and Imamul Haq notched up a brilliant 205-run opening stand to provide Pakistan with a solid beginning.
Hafeez, whose last of 50 Test appearances came in England two years ago, brought up his tenth Test century with two boundaries off Mitchell Starc before pushing spinner Jon Holland for two.
He was given a life on 74 when Mitchell Marsh could not hold on to a tough chance on the boundary off the bowling of Holland after covering some 20 yards in the outfield.
Hafeez was eventually dismissed after scoring 126 runs. His innings included 15 boundaries.
His partner Imam went back to the hut after scoring 76 runs — an innings which included seven fours and two sixes.
Azhar Ali could not make the most of good batting conditions as his mistimed lofted shot went straight to Mitchell Starc at mid-off. He scored 18 runs off 80 balls.
At the close of play, Haris Sohail was unbeaten on 15 while nightwatchman Mohammad Abbas had scored just one run.
Australian bowlers toiled hard but could only pick up three wickets over the course of the day. Jon Holland, Nathon Lyon and Peter Siddle picked up one wicket each.
The visitors handed Test caps to Aaron Finch, Travis Head and Marnus Labuschagne while Pakistan included off-spinner Bilal Asif for his first Test at the age of 33.
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