The invention relates to a control system and methods for controlling motion of a vehicle over a surface. The control system limits an amount of drive torque that may be applied to one or more wheels of the vehicle to prevent an amount of wheel slip from exceeding a prescribed value. The prescribed value of wheel slip is determined in dependence at least in part on vehicle speed. In addition, method claims 28 and 29 are directed to providing drive torque, independent of vehicle speed, which corresponds to or exceeds the maximum traction force. These methods are suitable for highway driving with high friction or off road driving on soft terrain, respectively.