Brake-pull mitigation

A method of operating a vehicle braking system 12 that includes a braking devices 20a, 20b each of which is configured to apply brake torque to a wheel at either end of an axle 29a, 29b of the vehicle is provided. The method comprises receiving one or more electrical signals indicative of a brake command. The method further comprises obtaining a value of each of one or more vehicle-related parameters as brake torque is applied to the wheels at either end of the axle 29a, 29b by the braking devices 20a, 20a in response to the brake command, and detecting a brake-pull on the vehicle based on the obtained value(s) of the one or more vehicle-related parameters. The method still further comprises automatically adjusting an amount of brake torque being produced by at least one of the braking devices 20a, 20b to equalize the amount of brake torque being applied across the axle 29a, 29b, thereby mitigating the detected brake-pull. The vehicle parameters may be lateral acceleration and/or a yaw-related parameter. The method may include determining a modified braking force to apply to the wheels based on recorded data indicative of a previously required brake pull mitigation.