A system and method for adjusting a yaw of an aircraft having an antilock braking system is disclosed. The antilock braking system includes a controller configured to receive a directional input from a rudder. The controller is further configured to deliver a braking output to at least one of a left wheel brake and a right wheel brake. A position of the rudder indicates a pilot's desired steering response, and to allow for braking optimization by the antilock braking system, the pilot depresses fully the left wheel brake pedal and the right wheel brake pedal. The controller receives the directional input after both the right wheel brake pedal and the left wheel brake pedal have been fully depressed. The controller then delivers the braking output and a pressure on one of the left wheel brake and the right wheel brake is reduced in accordance with the directional input.