  Spin-orbit torque enables electrical control of the magnetic state of
ferromagnets or antiferromagnets. In this work we consider the spin-orbit
torque in the 2-d Van der Waals antiferromagnetic bilayer CrI$_3$, in the
$n$-doped regime. In the purely antiferromagnetic state, two individually
inversion-symmetry broken layers of CrI$_3$ form inversion partners, like the
well-studied CuMnAs and Mn$_2$Au. However, the exchange and anisotropy energies
are similar in magnitude, unlike previously studied antiferromagnets, which
leads to qualitatively different behaviors in this material. Using a
combination of first-principles calculations of the spin-orbit torque and an
analysis of the ensuing spin dynamics, we show that the deterministic
electrical switching of the N\'eel vector is the result of dampinglike
spin-orbit torque, which is staggered on the magnetic sublattices.
