Embodiments of the present invention provide a controller for a hybrid electric vehicle having a first actuator and a second actuator operable to drive a driveline of the vehicle. The vehicle has releasable torque transmitting means operable releasably to couple the first actuator to the driveline, and the releasable torque transmitting means is operable between a first condition in which the first actuator is substantially disconnected from the driveline and a second condition in which the first actuator is substantially connected to the driveline. The controller is operable to control the vehicle to transform between a first mode in which the releasable torque transmitting means is in the first condition and a second mode in which the releasable torque transmitting means is in the second condition. When a transition from the first mode to the second mode is required, the controller is arranged to provide a control signal to the first actuator to control the speed thereof, the control signal being responsive to the speed of the first actuator and the amount of torque transfer provided by the releasable torque transmitting means.