Abstract: A vehicular powertrain with regenerative braking includes a plurality of wheels and a brake pedal which, upon engagement, is activated first into a first zone of operation and then into a second zone of operation. A braking detector detects either a released state or an engaged state for the brake pedal and, if in the engaged state, detects if the pedal is in the first or the second zone of operation. Friction brakes brake a pair of the wheels, responsive to detection of the brake pedal within the second zone of operation. The hydraulic portion of the drivetrain includes an accumulator for storing hydraulic fluid under pressure and a reservoir for storing the hydraulic fluid at a lower pressure. A pump/motor is located in the high pressure line for operation as a motor to drive the drive wheels in a drive mode and for operation as a pump driven by the drive wheels in a braking mode.