Methods and systems for steering-based oscillatory braking are described herein. A method may involve making a determination, by a computing device, to reduce a speed of a vehicle. The vehicle may include a pair of wheels. The method may further involve providing instructions to turn the pair of wheels of the vehicle in an oscillatory manner, such that each wheel of the pair of wheels is turned in substantially the same direction and turning of the pair of wheels oscillates each wheel of the pair of wheels between given directions about a direction of travel of the vehicle so as to reduce the speed of the vehicle.