An engine system may include an engine including a plurality of intake lines through which outside air supplied to combustion chamber flows, a first electric supercharger and a second electric supercharger disposed respectively in the plurality of intake lines, a first exhaust gas recirculation (EGR) device including a first EGR line branched from an exhaust manifold and joining an intake manifold and a first EGR valve disposed in the first EGR line, and a controller determining an engine target torque according to a driving condition of the engine, setting an engine torque within an operation region of the first EGR device when the engine target torque is in a torque dead band between the operation region of the first EGR device and a non-operation region thereof, and compensating a difference value between the engine target torque and the engine torque by a hybrid electric vehicle (HEV) motor.