Since the late 1970s, anglophone and German military literature has been fascinated by the Wehrmacht's command system, especially the practice of 'Auftragstaktik'. There have been many descriptions of the doctrine, and examinations of its historical origins, as well as unflattering comparisons with the approaches of the British and American armies prior to their adoption of Mission Command in the late 1980s. Almost none of these, however, have sought to understand the different approaches to command in the context of a fundamental characteristic of warfare - friction. The result is intended to offer a new and deeper understanding of both the nature of command as a response to friction, and the factors that need to be in place in order to allow a given command approach to achieve success.