By Raymond Zhong and Anant Vijay Kala 

NEW DELHI--India's new government chose incremental change over big-bang reform for the country's ailing economy, saying Thursday it plans to simplify the tax system, make the welfare state more efficient and allow more foreign investment in two industries.

Presenting the national budget to Parliament, Finance Minister Arun Jaitley said the cap on foreign holdings allowed in Indian defense and insurance companies would be raised to 49% from 26%. He also pledged incentives to spur infrastructure investment and a host of small development programs.

Mr. Jaitley said the budget and policies being rolled out by the new administration were "only the beginning of a journey" toward reviving economic growth, pulling people out of poverty and expanding the middle class. "India unhesitatingly desires to grow," he said.

He predicted that it would be a few years before India's economic output growth would hit 7% to 8%--a level last seen four years ago. In the year ended March 31, Indian gross domestic product increased 4.7%.

The budget was widely seen as an important statement of intent by the government of Prime Minister Narendra Modi, whose Bharatiya Janata Party came to power this year after pledging to shake up the government and deliver the economic development sought by frustrated Indian voters.

Its measured approach appeared to be a harbinger of tailored efforts--not barnstorming policy overhauls--to improve government efficiency and make the economy more open.

"It was really a grab-bag of different policies with something in there for everybody," said Frederic Neumann, joint head of Asian economic research for bank HSBC. "All in all, an encouraging budget, but not really something that is a complete game-changer."

Investor reaction was mixed. The Bombay Stock Exchange's benchmark index saw large swings as Mr. Jaitley spoke on Thursday morning, falling by as much as 1.3% in intraday trading before rebounding by the speech's end. The index ended the day down 0.3%.

Despite planned new spending, Mr. Jaitley said the government would aim to keep the government budget deficit to 4.1% of GDP for the year ending March 31, a target set by the previous, left-leaning government led by the Congress party. He said achieving the number would be "daunting." He also pledged to shrink the deficit to 3.6% of GDP in the next fiscal year.

The budget speech, which lasted more than two hours and 15 minutes, at times read like a laundry list of spending and revenue measures rather than a statement of a new vision for India. Mr. Jaitley promised funding for, among other things, improving women's safety on public transport, promoting hand-woven textiles and building an enormous statue of Vallabhai Patel, one of India's founding fathers, in Mr. Modi's home state of Gujarat.

Some political analysts had hoped that Mr. Jaitley, an erudite former Supreme Court lawyer, would use his inaugural budget address to redefine the government's approach to economic management.

In general, however, the first budget of the Modi administration stuck to the middle road. Mr. Jaitley, who inveighed on the campaign trail against the "tax terrorism" practiced by his predecessors, didn't suggest a repeal of a retrospective tax law used against Vodafone Group PLC and Nokia Corp., which has drawn fire from foreign investors.

Instead, he said the Modi government would limit any retrospective tax demands on businesses. He said any new cases arising from the previous government's tax changes would be reviewed by a committee. "The sovereign right of the government to undertake retrospective legislation is unquestionable," he said, but added the Modi government wouldn't "ordinarily" pass such laws.

The U.S.-India Business Council, a business-advocacy group, said in a statement that "any retrospective taxation is harmful to India's business climate." Firms are "eager for further positive clarifications on this matter," the council said. Vodafone said Thursday it doesn't expect relief from the Indian government and will continue with ongoing arbitration.

To simplify the welter of state and federal taxes imposed on businesses, Mr. Jaitley said he would push for passage of a uniform, countrywide goods and services tax. Such a tax, economists say, is essential for improving tax collection and making it easier for firms to do business across state lines.

Mr. Jaitley said he hoped to complete negotiations on the tax, which many Indian state governments currently don't support, by the end of this year.

Mr. Jaitley emphasized that programs to alleviate poverty would remain a focus of Mr. Modi's administration. He said funding for a rural-employment program--a flagship policy of the previous government--would be maintained, but said it would be aimed at building lasting public works.

India's extensive subsidy programs for the poor would also be "more targeted," he said, without offering details. Analysts had been hoping for concrete plans for trimming government subsidies, which will total 2.5 trillion rupees ($42 billion), or 14% of all expenditure, in the new budget.

Mr. Jaitley also stressed Mr. Modi's ambition to close the gap between urban and rural areas, saying the government would focus on constructing toilets in elementary schools and expanding rural electrification.

"This doesn't look very different" from the previous government's budgets, said Madan Sabnavis, chief economist at CARE Ratings. "The names of the schemes have changed, that's all."

Prasanta Sahu, Rajesh Roy and Niharika Mandhana contributed to this article.

Write to Anant Vijay Kala at anant.kala@wsj.com

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