A braking system, may include: a hydraulic braking apparatus including a first hydraulic braking apparatus provided on anyone of front and rear wheels of a vehicle and a second hydraulic braking apparatus provided on the other of the front and rear wheels of the vehicle; a nonhydraulic braking apparatus capable of generating braking force in a wheel provided with the second hydraulic braking apparatus among the front and rear wheels; a main braking force regulator configured for regulating braking force by controlling hydraulic braking pressure supplied to the first hydraulic braking apparatus and the second hydraulic braking apparatus; and an auxiliary braking force regulator configured for regulating braking force by controlling at least one braking apparatus of the first hydraulic braking apparatus and the non-hydraulic braking apparatus, based on whether an anti-lock braking system (ABS) is operating; when a failure has occurred in the main braking force regulator.