The present invention relates to a vehicle (1) having a torque generating machine (4); and one or more driven wheel (WD). A driveline (6) is provided for transmitting torque from the torque generating machine (4) to said one or more driven wheel. The driveline (6) includes a torque transmitting means (8). A first decoupling mechanism (11) is operable to decouple the torque transmitting means (8) from the torque generating machine (4). The first decoupling mechanism (11) is closed to couple the torque transmitting means (8) to the torque generating machine (4) and is opened to decouple the torque transmitting means (8) from the torque generating machine (4). A second decoupling mechanism (12) is operable to decouple the torque transmitting means (8) from the one or more driven wheel. The second decoupling mechanism (12) is closed to couple the torque transmitting means (8) to the one or more driven wheel and is opened to decouple the torque transmitting means (8) from the one or more driven wheel. A controller (2) is provided having at least one electronic processor for controlling operation of the first and second decoupling mechanisms (11, 12). The at least one electronic processor (P) is configured to close the second decoupling mechanism (12) to couple the torque transmitting means (8) to the one or more driven wheel, determine a target operating speed of the torque generating machine (4), control an operating speed of the torque generating machine (4) in dependence on the determined target operating speed and close the first decoupling mechanism (11) when the operating speed of the torque generating machine (4) at least substantially matches the determined target operating speed. The present invention also relates to a corresponding method of controlling first and second decoupling mechanisms (11, 12) to control the transmittal of torque from a torque generating machine (4) to one or more driven wheel of a vehicle (1).