A hybrid electric vehicle (HEV) includes an engine, a first motor directly connected to the engine through a first shaft, a second motor directly connected to a second shaft, and an engine clutch of which one end is connected to the first shaft and the other end is connected to the second shaft so as to selectively connect the first shaft and the second shaft. The (HEV) includes a first controller unit configured to control each of the first motor and the second motor and a second controller unit configured to determine whether a preconfigured touch point learning condition is satisfied, control the first and second motors to respective first and second speeds when the learning condition is satisfied, and learn a touch point of the engine clutch on the basis of a torque change of the first motor or the second motor.