A hybrid electric vehicle includes a transmission without a reverse gear and a control method thereof. A situation in which a connection between the motor and the engine is stuck is overcome. When a predetermined condition is met, whether or not an engine clutch is in a specific state is determined. A first driving source is disposed on one end of the engine clutch, and a second driving source is disposed on the other end of the engine clutch. When the engine clutch is in the specific state, reverse driving is prevented. A transmission is controlled to be in a neutral position.