A method for estimating master cylinder pressure during brake apply of a brake system of a vehicle, wherein the brake system includes a brake pedal. A first master cylinder pressure is estimated from brake pedal position during brake apply. A second master cylinder pressure is estimated from vehicle deceleration during brake apply. The master cylinder pressure is estimated during brake apply to be equal to the first master cylinder pressure when the vehicle deceleration is below a predetermined deceleration value. The master cylinder pressure is estimated during brake apply to be equal to a value which is less than the first master cylinder pressure and greater than or equal to the second master cylinder pressure when the vehicle deceleration is at or above the predetermined deceleration value. At least the estimated master cylinder pressure during brake apply is used to control the vehicle.