Embodiments of the present invention provide a vehicle control system for at least one vehicle subsystem of a vehicle; the vehicle control system comprising: a subsystem controller for initiating control of the or each-of the vehicle subsystems in a selected one of a plurality of subsystem control modes, each of which corresponds to one or more different driving conditions for the vehicle, automatic control means configured to select automatically the most appropriate one of the subsystem control modes, the system being operable in a manual mode in which a user may select a required subsystem control mode or an automatic response mode in which the automatic control means selects the most appropriate control mode, wherein when the system is operating in the manual mode and not when the system is operating in the automatic response mode, the subsystem controller is configured automatically to impose a first set of one or more prescribed constraints on an amount of torque applied to one or more wheels of a vehicle when commanded to operate in a prescribed one or more of the control modes.