A control method for a vehicle with a Dual Clutch Transmission (DCT) may include: determining whether it is a wheel speed-unknown state by a TCU, determining whether an input shaft speed sensor is in a normal state when it is the wheel speed-unknown state, determining whether IG-OFF occurs when it is the wheel speed-unknown state and the input shaft speed sensor IS for is in a normal state, storing information related to the current wheel speed-unknown state and an output shaft speed of the DCT determined by the input shaft speed sensor, determining whether the TCU is not in TCU latch-off and whether it was the wheel speed-unknown state immediately before IG-OFF on the basis of the stored data, when IG-ON occurs, and performing pre-engaging on the basis of the DCT output shaft speed stored immediately after IG-OFF, when the TCU is not in latch-off and it was the wheel speed-unknown state immediately before IG-OFF.