A system for controlling vehicle speed in accordance with a current value of vehicle set-speed. The system responds to user input to change the current value of vehicle set-speed to a different value and is configured to store the current value of set-speed in a memory as a stored set-speed and to change the current value of set-speed in dependence on the user input. The speedometer indicates both the current and stored set-speeds. The system can return the current value of vehicle set-speed to the stored set-speed upon receipt of a “resume” or other user command. The system can enter into a descent control mode that applies braking torque but no drive torque and can also enter into a full functionality mode that provides either drive or braking torque to maintain the vehicle at the set-speed.