Chanderpaul was 70 not out at lunch, which West Indies reached on 357-6 after being put in to bat.
Chanderpaul followed compatriot Everton Weekes and Zimbabwe's Andy Flower in reaching the milestone.
The patient left-hander faced 187 balls, hitting nine fours in an innings of five hours.
After West Indies resumed on 281-4, fast bowler Makhaya Ntini struck in the seventh over of the day when he found the leading edge of Dwayne Bravo's bat.
The ball looped upward on the off-side where Ntini and Herschelle Gibbs, who was fielding in the gully, collided.
Ntini took the catch to dismiss Bravo for 12. Neither Gibbs nor Ntini were injured.
In Ntini's next over, a superb away swinger took the outside edge and was caught by wicketkeeper Mark Boucher to remove Denesh Ramdin for one as West Indies stumbled to 304-6.
Chanderpaul and Daren Sammy (35 not out) consolidated with an unbroken partnership of 53. Ntini went to lunch with figures of 3-94.
