Woakes then claimed the wicket of nightwatchman Rahat Ali for a duck when he played on with the final ball of the day.
Jake Ball, given a debut in place of James Anderson after the selectors decided against risking England's all-time leading wicket-taker following a shoulder injury, appealed for leg before against Masood with his second delivery in Test cricket.
He was 110 not out in a Pakistan total of 282 for six at stumps on the first day of this four-match series.
But off-spinner Moeen Ali was expensive, his seven wicketless overs costing 46 runs.
Remarkably, this was also Misbah's first Test anywhere in England, with selection decisions having kept him out of previous tours.
Misbah said: "I rate this as my top innings in Test cricket and I'm really happy about that".
Misbah became the oldest Test centurion since 1934 when he reached three figures for the 10th time in the longest format of the game at the age of 42, with the tourists closing on 282-6.
On a more serious note, and turning to the match situation, Misbah said: "We're in a good position at the moment".
Asad Shafiq made a compact 73 with a dozen fours, and put on 148 runs with his skipper before falling to England's best of the four-pronged pace bowlers, Chris Woakes (4-45). England's fourth quick, Steven Finn had Misbah dropped at second slip on 16, but otherwise struggled for rhythm and has been the only paceman to concede more than three runs an over. Azhar Ali (7) and Younis Khan (33) took Pakistan to 76 for two at lunch.
A single to third man off Finn saw Misbah to his 10th century in 62 Tests off 154 balls with 17 boundaries.
Tendulkar, who recently underwent a knee operation in London, said that Amir now looked like a matured cricketer but it remains to be seen whether he can execute his plans on the cricket field."I have seen a couple of interviews".
Misbah was severe on Ali, reverse and conventionally sweeping him for four fours in an over.
Ball said: "Those two wickets at the end have brought ourselves back into it.and if we can restrict them to 350 we are well in the game".
Hafeez's 59-ball innings ended when he tried to work to leg a short ball from the Warwickshire all-rounder that swung away a touch only to get a top edge, with Bairstow holding the skyed chance.
The batsman reviewed and Ball, presented with his England cap before play by his uncle Bruce French, the former England wicket-keeper, had a nervous wait for his first Test wicket.
Just as Younis looked set for a good score, he chipped a catch to square leg off Woakes in the 44th over. He was out shortly before the close when, trying to withdraw the bat against Woakes with the new ball, he was caught behind.
"It would have been nice if Asad and me had batted to the end", he said after England took two late wickets to tilt the match.