Embodiments of the present invention provide a motor vehicle control system for selecting and/or determining a driving surface and for controlling a plurality of vehicle subsystems to operate in a plurality of subsystem control modes in dependence on the selected/determined driving surface, the system being operable in a manual control mode selection condition in which a user is able to select said driving surface and an automatic control mode selection condition in which the system is configured to select said driving surface automatically, wherein the vehicle control system is provided with a memory arranged to memorize a last selected control mode that was selected prior to vehicle de not activation or key-off when operating in the automatic control mode selection condition, and upon the next subsequent vehicle activation or key-on, the system is configured to continue operating in the memorized control mode and to automatically obtain new data in respect of a driving surface over which the vehicle is moving before allowing a change in control mode to take place.