A device, system, and method for controlling transmission torque to provide hill ascent and/or descent assistance to a vehicle includes applying a clutch hold pressure to one or more clutches of a transmission to lock an output shaft of the transmission to resist roll-back of the vehicle. The clutch hold pressure is determined as a function of the tractive effort of the vehicle and is applied based on one or more of a transmission output speed signal, an engine throttle signal, and a vehicle brake signal.