Naqaash Tahir opened with some economical bowling and was the first bowler of the Warwickshire attack to claim a wicket, that of Michael Di Venuto, who was caught behind on 18 in the 11th over.
A change of ends saw Rikki Clarke benefit, striking with the fourth delivery of the 19th over, which saw Gordon Muchall (22) edging the ball to Darren Maddy at first slip and Durham 68-2.
Durham were 127-3 after Ben Stokes (33) flicked the ball to Clarke at mid-wicket off the bowling of Boyd Rankin, who along with Will Porterfield will join up with Ireland after the close of play on day two, and will be replaced by Keith Barker and Andy Miller respectively for days three and four.
Will Smith went on to score his third first class fifty of the season off 129 balls, which included ten fours, and celebrated a fifty partnership with Dale Benkenstein in the 48th over with Durham 192-3.
Smith, whose innings had been impressive yet measured, was stranded on 99* at tea, with Benkenstein 42* and the Durham total 234-3.
There were big celebrations as he reached his hundred, after almost five hour at the crease, in the first over after the break, having faced 207 balls and striking 17 fours.
The pair batted with understandable caution in the overs after tea as they guided the side to 250 to claim their second batting point. Benkenstein brought up his patient fifty with a fifth boundary, having faced 114 balls, making him the leading run scorer in the LV= County Championship this season to date.
The Warwickshire attack weren’t able to shift either batsman, who didn’t give them any opportunity to maximise upon and by the close of play they had racked up the highest partnership by Durham against Warwickshire, 221.
Durham will resume on 348-3 on day two with Smith 153* and Benkenstein 90*.