A controller for a vehicle including a continuously variable transmission mechanism, a mechanical stepped transmission mechanism, and a drive wheel is provided. The controller includes an electronic control unit. The electronic control unit is configured to execute gear change control of the mechanical stepped transmission mechanism so as to establish any simulated gear stage of a plurality of simulated gear stages and to change a gear ratio of the continuously variable transmission mechanism stepwise. When determining that the mechanical stepped transmission mechanism has failed, the electronic control unit is configured to fix the mechanical stepped transmission mechanism at a limp-home mode mechanical gear stage, prohibit a stepped gear change of the continuously variable transmission mechanism, and change the gear ratio of the continuously variable transmission mechanism in a stepless manner on the basis of a vehicle state.