Abstract: A vehicle includes an engine, an accelerator pedal, transmission, transfer case, mode selection device, road wheels, an electronic brake assembly, and a controller. The transfer case is connected to the transmission, and is operable for establishing a predetermined transfer case mode. The mode selection device receives a requested crawl mode of the vehicle in the predetermined transfer case mode. The electronic brake assembly has a brake motor and brake calipers, with each brake caliper disposed proximate a respective wheel to brake the respective road wheel. The controller is programmed to simulate a four-wheel drive-low mode of the transfer case in response to the requested crawl mode by decelerating the vehicle via control of the brake assembly and limiting a gear state of the transmission to 1st or 2nd gear. An auto-hold state may be engaged in crawl mode when the vehicle stops to prevent rolling of the vehicle.