A method for planning and drilling a well includes receiving geomechanical and geological data for a subterranean domain, and receiving an initial well trajectory including a well path and survey points. The method includes conducting a wellbore stability analysis along the well trajectory based in part on the geomechanical and geological data. Conducting the wellbore stability analysis includes identifying a subset of the well path intervals along the well trajectory as having a risk for instability. The method includes calculating a geomechanics nudge for one or more survey points along the well trajectory. The geomechanics nudge is calculated as a derivative of the wellbore stability at the one or more survey points. The method includes modifying the one or more survey points and the one or more well path intervals connected thereto based in part on the geomechanics nudge to generate a modified well trajectory.