A method for controlling a vehicle which includes an engine and a driver-operable clutch. The method comprises identifying a pull-away phase of the vehicle; monitoring a torque demand parameter (accelerator pedal position); setting an engine output torque limit parameter indicating the output torque that the engine must not exceed during the pull-away phase (engine speed); and controlling the engine in dependence on the torque demand parameter and the engine output torque limit parameter. The torque demand parameter may be determined based on the driver-determined torque demand.