The invention provides a vehicle and method to control rolling engagements. When a vehicle driver commands a change in direction of motion while the vehicle is moving above a threshold speed, a controller first applies a braking force to slow the vehicle below the threshold speed and then establishes a power flow path associated with the opposite direction of motion. The braking force may be applied by wheel brakes or, in some situations, by a transmission clutch. This method prevents an engine stall, overheating of oncoming clutch, and excessive delay.