A vehicle has an engine, a CVT and at least one ground engaging member. A method of controlling the engine includes the steps of: determining an idle speed set point based at least in part on a first speed proportional to a driven pulley speed, the idle speed set point being less than an engagement speed when the driven pulley speed is less than a predetermined driven pulley speed and being less than an actual engine speed when the driven pulley speed is greater than the predetermined driven pulley speed; and controlling the engine to operate under conditions corresponding to the idle speed set point when a desired engine speed is less than the idle speed set point. Controlling the engine to operate under conditions corresponding to the idle speed set point causes engine braking when the driven pulley speed is greater than the predetermined driven pulley speed.