A controller (201) for a vehicle (100), a system (200), a vehicle (100), a method (600), a computer program (204) and a non-transitory computer-readable storage medium (203) are disclosed. The controller (201) comprises means to receive an indication of a user selected direction of travel and an indication of the direction of motion of the vehicle (100). The controller (201) is configured to determine a proposed torque value in dependence on the direction of motion being an opposite direction to the selected direction of travel. The controller (201) also includes means to provide an output signal (403) configured to cause a motor (102) to apply torque, in dependence on the proposed torque value, to oppose motion in the opposite direction.