A method of determining a commanded friction brake torque is disclosed. The method uses inputs, such as from a gearshift sensor, an accelerator pedal sensor, a brake pedal sensor, and engine torque output sensor, a transmission speed input sensor and a transmission speed output sensor, to determine how much engine braking or regenerative braking is occurring. The method then uses this information combined with the braking command information from the brake pedal sensor to determine the amount of friction braking to apply to the friction brakes.