A method of defeating an incoming missile (120), such as a rocket propelled grenade, includes soft launching an interceptor missile (10), and then using pitch over motors of the interceptor missile to alter course of the missile to a desired interception direction. By launching at a relatively slow speed, such as a speed less than or equal to 40 m/sec (130 ft/sec), the interceptor missile may reach the desired interception direction within 250 milliseconds of launch. The interceptor missile may be able to cover substantially all interception directions over a hemisphere or greater extent around a launch location. For example, the interceptor missile may be launched vertically from a ground vehicle, and be capable of altering course to any above-ground trajectory within 250 milliseconds.