Abstract: A method of drilling a borehole from a surface location with a drill string, and a system for implementing the method are provided. The method includes a rotary mode that involves rotating the drill string at a rotary mode rotation rate in order to drill the borehole for a rotary interval, an orientation mode that involves rotating the drill string at an orientation mode rotation rate and transitioning the rotation of the drill string from the orientation mode rotation rate to a surface stop orientation, and maintaining the drill string at a surface fixed orientation in order to drill the borehole in a directional mode for a directional interval. The surface stop orientation is selected based upon a predicted relationship between the surface stop orientation and a toolface stop orientation.