A controller for a vehicle includes a controlling unit. In a case in which the target engine torque is less than or equal to a threshold, the controlling unit controls the engine such that the torque of the engine becomes equal to the target engine torque, and controls a motor-generator such that the torque of the motor-generator becomes equal to the target motor torque. Also, in a case in which the target engine torque is greater than the threshold, the controlling unit controls the engine such that the torque of the engine becomes less than or equal to the threshold, and controls the motor-generator such that the torque of the motor-generator increases.