Abstract: Techniques are disclosed which acts to maintain a drillstring in dynamic friction during geo-steering operations when the drillstring is not rotating. Embodiments of the invention include a drilling system having a drillstring coupled to a top drive or a kelly, and a method of estimating a frictional torque along the drillstring to compute an oscillatory rotary input to the top drive or the kelly based on an input period or amplitude received at a human machine interface. A rotary control signal based on the oscillatory rotary input is transmitted to the top drive or the kelly via a variable-frequency drive (VFD) motor control system. The drillstring can be further coupled to a sensor and the feedback from the sensor can be monitored for proper operation to adjust the oscillatory rotary input during the geo-steering operations.