Provided are a vehicle control device provided in a vehicle and a method for controlling a vehicle. The vehicle control device for controlling a vehicle having a camera and a steering wheel includes a communication unit communicating with at least one of the camera and the steering wheel, and a controller transmitting, when a predetermined condition is met, a driving command to a driving unit which applies an external force to move the steering wheel along a predetermined route, receiving a photographed image from the camera while the steering wheel is moving, and performing authentication of a driver's face using the image.