The vehicle control apparatus and the control method thereof include an electronic control unit configured to receive wheel slip values sensed by a sensing apparatus, receive the wheel slip values and calculate a predicted wheel slip value using slip prediction model information on the basis of a previous wheel slip value and a current wheel slip value among the wheel slip values. Whether a current state is a first state of which a vehicle moved from a high friction road to a low friction road on the basis of the calculated predicted wheel slip value is then determined. The calculated predicted wheel slip value is compared with predicted target slip value ranges when the current state is determined as being the first state. Whether to control an electric parking brake (EPB) apparatus is determined. A controller configured to transmit a command based on the determination by the ECU.