A method for steering binauralization of audio is provided. The method comprises steps of: receiving (410) an audio input signal, calculating (430) a confidence value indicating a likelihood that a current audio frame of the audio input signal comprises binauralized audio; determining (450) a state signal based on the confidence value; determining (460) a steering signal, based on the first confidence value, the state signal and an energy value of the audio frame; and generating (470) an audio output signal with steered binauralization by processing the audio input signal according to the steering signal.