A method is provided for controlling engagement between a vehicle and a charging device includes: attempting to discover a charging device; when the charging device is discovered, identifying the discovered charging device on a list of charging equipment stored in the vehicle; determining a charging history count of the discovered charging device according to the stored list of charging equipment; when the charging history count of the discovered charging device is greater than or equal to a predetermined number, performing a charging operation with the discovered charging device; and when the charging history count of the discovered charging device is less than the predetermined number, performing a Signal Level Attenuation Characterization (SLAC) procedure against the discovered charging device.