Called into the side in place of the injured Ishant Sharma, Pankaj bowled 20 overs on day one of the third Test at the Ageas Bowl in Hampshire, recording figures of 0-62 as England reached stumps on 247-2.
It could have been an altogether different story for India and Pankaj had Ravindra Jadeja held on to an edge from Alastair Cook at third slip when the England captain was on 15.
Cook went on to make 95, adding 158 with Gary Ballance (104 not out), and Pankaj was also unfortunate to have an lbw appeal against Ian Bell turned down when handed the new ball with 10 overs of the day remaining.
Despite missing out on two potential wickets, Pankaj was delighted to have made his Test bow.
"After 10 years, it's a dream come true," he said. "I'm really happy to make my debut, but I would have liked to get a wicket for my team. Hopefully I get some tomorrow.
"It's an unbelievable feeling. I can't put it into words. I tried my best, but things haven't happened. Hopefully tomorrow that changes.
"It [the pitch] is actually a bit slow and seems comfortable for batsmen who get stuck in. We bowled in the right areas, but they played well.
"A dropped catch and an lbw as well, so unlucky. We have to bat big and hope we can win."