A brake control system for a motor vehicle having a plurality of wheels, brakes for applying a braking effort to one or more of the wheels, and movement sensing means for detecting movement of the vehicle. The system comprises: brake actuation means for actuating the brakes to supply a braking effort; and brake control means for controlling the brake actuation means, wherein the brake control means is arranged to determine an acceleration of the vehicle based on movement detected by the movement sensing means and to ensure that the brake actuation means supplies a braking effort if the determined acceleration exceeds a set acceleration limit.