The term concede is from the 1630s, "to make a concession of, yield up" (transitive), from Middle French concéder or directly from Latin concedere "give way, yield, go away, depart, retire," figuratively "agree, consent, give precedence," from con-, here probably an intensive prefix (see con-), + cedere "to go, grant, give way."
Concede according to plan. Sales negotiation is a learned skill and one where practice is paramount to success. When entering sales negotiations a salesperson must have a plan to reach a contract. By conceding according to plan a salesperson will win the day.
Yield a departure, set a precedence to win, concede on your terms