A method and system for directionally drilling a wellbore. The method includes measuring an off-bottom rotating torque applied to a drill string in the wellbore. A steerable drilling motor is oriented proximate a bottom of the drill string in a selected direction, and a surface rotational orientation of the drill string is measured. Torque is applied to the drill string at the surface to maintain the surface rotational orientation. The applied torque is automatically increased and decreased by a selected amount related to the measured off-bottom rotating torque.