Brian Bennett scored Zimbabwe's fastest ever Test century but England were still well on top after two days of the historic one-off fixture at Trent Bridge in Nottingham.
The Proteas will take on Zimbabwe in a four-day encounter in June to prepare for the World Test Championship (WTC) against Australia.
Zimbabwe survived a middle-order collapse to complete a three-wicket victory over Bangladesh in the first Test in Sylhet to go 1-0 ahead in the two-match series.
The Proteas will embark on a tour to Zimbabwe in June and July for two Test matches against the hosts as well as a T20I triangular series that will also feature New Zealand.
Zimbabwe recorded their highest ever total in Test cricket after piling up 586 all out against Afghanistan before reducing the Asian side to 95-2 at stumps on the second day at Queens Sports Club in Bulawayo.
Zimbabwe are set to host it's first Boxing Day and New Year's Test matches when Afghanistan arrive in the country for an all format tour in December.