A method of controlling a hands-free system for a vehicle includes connecting with a cellular phone through local area communication. A call conversation state is entered when a hands-free function activates. A call termination command is received from a driver. A call termination message is transmitted to the connected cellular phone. When a success message is not received from the connected cellular phone in response to the call termination message, the call termination message is retransmitted by a preset number of times until the success message is received.