The hosts started well and dominated the opening quarter of an hour, with Majoro coming closest when he rattled the crossbar after Elias Pelembe picked him out in the box with a good cross.
After soaking up 35 minutes of pressure AmaZulu went ahead with their first real attack of the game, Michael Morton striking a volley through bodies and beating Darren Keet.
The hosts kept pushing as the first half drew to a close but they failed to find an equalizer before the sides went into the break.
Reeve Frosler had a great chance to level matters on the hour mark after Daine Klate was brought down in the area. His well struck penalty was kept out by Siyabonga Mbatha.
Gavin Hunt’s men found the equalizer in the 64th minute after a good header at the back post by Daine Klate.
The hosts efforts for a lead were rewarded in the 82nd minute after a driven cross by Frosler was headed home by Eleazar Rodgers.
Ben Motshwari made it 3-1 a few minutes later after being played in by a delightful chipped through ball by Thabang Monare.
Straight after the resumption of play, AmaZulu won a penalty, and Thapelo Nyongo stepped up and slotted his penalty home to reduce the deficit.
The three points see Bidvest Wits climb to 10th on the log with a top eight finish well within their sights.