The invention is concerned with control of a motor vehicle powertrain having a transmission of torque-controlled type. The powertrain also has an engine which provides a controllable engine torque. The method involves determining a reaction torque requirement and an engine torque requirement suitable to create a desired wheel torque and also a desired engine acceleration. The engine torque and the reaction torque provided by the transmission are set accordingly. The invention is characterised by the fact that the aforementioned calculation involves estimating and allowing for vehicle acceleration.