The West Indies were 141 for eight at lunch on the fourth day -- a lead of just 83 runs.
But considering they'd resumed on 61 for six this represented something of a recovery, although England were still on course for a victory that would give them an unbeatable 2-0 lead in this three-match series after a five-wicket win at Lord's.
Samuels, who made 117 in the first innings, was 52 not out, his fifty coming in 130 balls with eight boundaries.
Shane Shillingford was unbeaten on nought.
Both Samuels and West Indies captain Darren Sammy, who each made hundreds during a seventh-wicket stand of 204 in the first innings, were unbeaten at the start of Monday's play.
Samuels was 13 not out and Sammy nought not out.
They made a positive start, with Samuels clipping Tim Bresnan for a boundary off his pads while Sammy drove him through extra-cover for four.
Samuels, who'd been involved in some fiery verbal jousts with James Anderson, later square-drove the Lancashire paceman for another stylish boundary.
And the Jamaican took West Indies to 100 by fluently driving an over-pitched Stuart Broad delivery through the covers for an even better four.
Sammy too went for his shots, slamming Bresnan for a boundary behind point.
But Bresnan had Sammy lbw -- his fourth leg before wicket of the innings -- for 25.
Sammy reviewed the decision and replays showed the ball, which hit him on the back leg, would have just clipped the top of the stumps.
As Aleem Dar had already given Sammy out, the Pakistani umpire's call was upheld and West Indies were now 110 for seven after their two best batsmen of the match had only added 49 this time around.
Kemar Roach struck several fours before he was lbw to Anderson for 14 although England had to review umpire Asad Rauf's original not out decision before West Indies were 139 for eight.
England captain Andrew Strauss, occasionally setting defensive fields with just the one slip, equally curiously opted against using Graeme Swann's off-spin before lunch.
