A method for controlling hydraulic and regenerative braking includes commanding variable regenerative braking upon depression of a brake actuator until the regenerative braking reaches a threshold level, and commanding variable hydraulic braking in a wheel circuit. Commanding variable hydraulic braking includes: preventing transfer of fluid pressure from a master cylinder circuit through the ABS valve to the wheel circuit when the fluid in the master cylinder circuit is between a first pressure and a second pressure; partially limiting transfer of fluid pressure from the master cylinder circuit through the ABS valve to the wheel circuit when the fluid in the master cylinder circuit is between the second pressure and a third pressure; and allowing full transfer of fluid pressure from the master cylinder circuit through the ABS valve to the wheel circuit when the fluid in the master cylinder circuit is greater than the third pressure.