A braking system for a vehicle has a driver brake control, such as a pedal, operable against a support force to demand a braking effort. In a first part the control's travel the support force varies, typically increasing linearly, with travel with a gradient up to a first maximum positive gradient. In a second part of its travel the support force varies, also typically linearly, with travel with a gradient up to a second maximum positive gradient. In in an intermediate part of the travel from the end of the first part to the beginning of the second part the support force increases with travel with a positive gradient that exceeds both the first and second maximum positive gradients. This provides clear feedback to a driver that the control has been moved to the second part of its travel. The braking system may have a dissipative brake and a regenerative brake and be arranged so that the dissipative brake is only deployed when the control is in the second part of its travel.