Abstract: The present application relates to a braking method and a braking system. The braking method of the present application may be performed by an electro-mechanical braking system including at least one axle control unit and a plurality of electro-mechanical braking devices provided at ends of wheels and driven by motors to apply friction braking forces to the wheels. The electro-mechanical braking devices are controlled by at least one axle control unit to switch between a state in which no friction braking is applied and a state in which friction braking is applied in response to a braking requirement. The braking method includes: setting a brake clearance between a brake pad and a brake disc to an initial value; determining whether there is a braking requirement; determining whether regenerative braking is performed; and in response to the performing of regenerative braking, setting the brake clearance to a preset value, wherein the preset value is smaller than the initial value.