Chasing 106 runs for victory and with five wickets in hand on the final day, the tourists were relying on Misbah-ul-Haq to carry them home and he did not disappoint with a battling half-century.
However, Chatara stole the limelight with a superb show of bowling to help dismiss Pakistan for 239 shortly after lunch as Zimbabwe wrapped up a first Test victory over an established full-member nation since beating India in 2001.
Resuming on 158 for five, Misbah carried Pakistan's hopes of wrapping up a 2-0 series win and his runs certainly kept them afloat.
But Zimbabwe could also smell victory and they made an impact just four overs in on Saturday morning with Chatara trapping Adnan Akmal lbw for 20, with the wicketkeeper adding just three runs to his overnight score.
Misbah, who began the day on 26, soon got the scoreboard moving with the help of Abdur Rehman, who struck a couple of boundaries to keep Zimbabwe on their toes.
However, Rehman's stay was ended by Tinashe Panyangara on 12, the batsman edging to wicketkeeper Richmond Mutumbami.
Misbah's response was to bring up his half-century with a reverse-sweep to the boundary, but new partner Saeed Ajmal failed to follow his example and fell for two to the bowling of Chatara.
Pakistan were 217 for eight at lunch, still 47 runs short, but Misbah came out blazing after the interval and smashed four boundaries in two overs in a bid to get his team over the line.
However, Zimbabwe's need for victory seemed greater and Chatara accounted for the wickets of Junaid Khan and Rahat Ali, who was run out, within the space of three balls to spark celebrations.
Chatara finished with second-innings figures of five for 61 while Misbah was the last man standing for Pakistan on 79.
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