In an emergency situation, if your vehicle entered onto the shoulder but you cannot stop (for any reason) and are forced back onto the road, you should NOT:

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If your vehicle was put onto the shoulder at speed and you are not able to bring it to a stop before being forced back onto the roadway, you should NOT attempt to gradually steer the vehicle back on the road surface. Doing so might cause the tires to suddenly grab, which can lead to loss of control. It is far better to hold the wheel tightly, and turn sharply enough to get immediately back onto the roadway if it is safe to do so. Once the front tires are on the road surface, immediately counter-steer to avoid moving into other traffic lanes.

In an Emergency Situation, If Your Vehicle Entered onto the Shoulder