Continental Automotive Systems started development of an electromechanical brake-by-wire system (EMB) 2 years ago. A major part of the development deals with the control of the brake actuator. For the development of control algorithms a special test stand was built. It consists of the seat capsule, the actuator and the PC-based electronic control unit. As the electronic unit also performs a real time vehicle and actuator simulation a complete Hardware-in- the-Loop system supports simultaneous engineering within this project.This paper describes the Hardware-in-the-Loop development system and shows first results obtained in an early state of the development process.