A system for distributing a braking torque of a vehicle arranged with a service braking system, and at least one auxiliary braking system arranged to generate a braking torque on a propulsion shaft of the vehicle, the system includes: - a coupling mechanism arranged to couple and decouple at least one wheel (11, 12, 13, 14) of the vehicle from the braking torque; - a control unit configured to: - obtain distribution data indicative of a desired distribution of the braking torque between the wheels (11, 12, 13, 14) of the vehicle; - control the at least one auxiliary braking system to generate the braking torque on the propulsion shaft based on the distribution data; and - control the coupling mechanism to decouple at least one wheel (11, 12, 13, 14) of the vehicle from the braking torque of the at least one auxiliary braking system, based on the distribution data, in order to distribute the braking torque to the other wheels (11, 12, 13, 14) of the vehicle, characterized in that the at least one auxiliary braking system is an exhaust brake or a retarder and that the control unit is arranged to: - determine control data based on at least one predetermined rule for the distribution data, and to control the at least one auxiliary braking system and the coupling mechanism in accordance with the control data; - obtain the distribution data indicating a steering direction of the vehicle wherein the control unit is configured to determine control data in order to control the coupling mechanism to distribute the braking torque such that the vehicle is steered in accordance with the steering direction and; - determine control data in order to control the coupling mechanism to decouple at least one wheel (11, 12, 13, 14) of the vehicle arranged on an outside of the vehicle with reference to the indicated steering direction of the vehicle, from the braking force, in order to steer the vehicle in the steering direction. - a coupling mechanism arranged to couple and decouple at least one wheel (11, 12, 13, 14) of the vehicle from the braking torque; - a control unit configured to: - obtain distribution data indicative of a desired distribution of the braking torque between the wheels (11, 12, 13, 14) of the vehicle; - control the at least one auxiliary braking system to generate the braking torque on the propulsion shaft based on the distribution data; and - control the coupling mechanism to decouple at least one wheel (11, 12, 13, 14) of the vehicle from the braking torque of the at least one auxiliary braking system, based on the distribution data, in order to distribute the braking torque to the other wheels (11, 12, 13, 14) of the vehicle, - obtain distribution data indicative of a desired distribution of the braking torque between the wheels (11, 12, 13, 14) of the vehicle; - control the at least one auxiliary braking system to generate the braking torque on the propulsion shaft based on the distribution data; and - control the coupling mechanism to decouple at least one wheel (11, 12, 13, 14) of the vehicle from the braking torque of the at least one auxiliary braking system, based on the distribution data, in order to distribute the braking torque to the other wheels (11, 12, 13, 14) of the vehicle, - determine control data based on at least one predetermined rule for the distribution data, and to control the at least one auxiliary braking system and the coupling mechanism in accordance with the control data; - obtain the distribution data indicating a steering direction of the vehicle wherein the control unit is configured to determine control data in order to control the coupling mechanism to distribute the braking torque such that the vehicle is steered in accordance with the steering direction and; - determine control data in order to control the coupling mechanism to decouple at least one wheel (11, 12, 13, 14) of the vehicle arranged on an outside of the vehicle with reference to the indicated steering direction of the vehicle, from the braking force, in order to steer the vehicle in the steering direction.