A vehicle includes a sensing unit for sensing an authentication input of a user, the sensing unit including a sensor configured to sense one or more taps that are applied by the user to arbitrary positions within a preset region of the vehicle as the authentication input. The vehicle control apparatus also includes a control apparatus that includes a memory configured to store an authentication information and a controller configured to determine whether the authentication input matches the stored authentication information. The controller is also configured to control the vehicle according to the stored authentication information when the authentication input matches the stored authentication information.