user: Question: When was there a match in Centurion Park?
Columns: ['Date', 'Home captain', 'Away captain', 'Venue', 'Result']
Types: ['text', 'text', 'text', 'text', 'text']
Sample row: ['16,17,18,19,20 November 1995', 'Hansie Cronje', 'Mike Atherton', 'Centurion Park', 'DRAW']
SQL:

assistant: SELECT "Date" FROM "Table" WHERE "Venue" = 'Centurion Park';