An apparatus for controlling a vehicle includes a vehicle state detector for detecting a vehicle state, a function unit that performs at least one vehicle function, an operation unit that enables a transmission operation to allow selection of a transmission stage from among a plurality of transmission stages, and a position adjusting unit to switch the operation unit between a first position where the transmission operation is disabled and a second position where the transmission operation is enabled, by rotating the operation unit with respect to the functional unit, based on the detected vehicle state.