Several neighbours and onlookers watches in horror as the 32-year-old emerged from her home after being doused in petrol and set alight.
Witnesses recalled Kaur's husband, Kurlwinder Singh, then 34, ran after her trying to put the flames out with his hands, yelling, 'Fire, fire. I didn't do it, I'm a good man.'
Now, four years on from the horrific night, Mr Singh has been arrested and charged with the murder of his wife.
The arrest was the culmination of a 'painstaking' investigation, known as Strike Force Whyalla, established by detectives attached to The Hills Local Area Command, assisted by State Crime Command's Homicide Squad.
In September 2015, a coronial inquest into Ms Kaur's death heard it had followed years of domestic violence.
The couple had spoken about divorce and Mr Singh had, on several occasions, threatened to kill his wife, the inquest heard.
The couple again argued about family finances on the afternoon Ms Kaur died, the inquest heard.
Shortly after the fight, Ms Kaur phoned triple zero, but her call was suddenly terminated.
During this inquest it was also discovered that the fire was almost certainly caused by lawnmower fuel, from a can that was found in the laundry of the couple's home.
Superintendent Rob Critchlow described the almost four-year investigation as a 'dogged pursuit of truth' to which there were no third-party witnesses.
'Justice rushed is justice delayed,' he said. 'We felt it was important and imperative to the honour of this poor woman that we gathered the strongest possible brief.'