Abstract: A method and a braking system are provided, in which the driving dynamics of a motor vehicle are influenced, a driver-independent braking action generating a yawing moment which assists a steering in or steering round of the motor vehicle, and a driver-independent increase in the drive torque being caused on at least one wheel, in order at least partially to compensate the braking deceleration of the motor vehicle, a braking action being required when the ratio of the instantaneously used coefficient of friction and of the possible utilizable coefficient of friction overshoots a stipulated threshold value.