A vehicle includes a powertrain system and a friction braking system communicating tractive torque with a driveline, the powertrain system including a torque machine, and an energy storage device connected to the torque machine, said torque machine communicating tractive torque with the driveline. A method for controlling regenerative braking and friction braking includes monitoring a vehicle operating point, determining a braking torque request, determining a regenerative braking motor torque ratio based upon the vehicle operating point wherein the regenerative braking motor torque ratio is non-linearly dependent on the vehicle operating point, and actuating the friction brake based upon the regenerative braking motor torque ratio and the braking torque request.