Present invention relates to a vehicle (100) comprising a hybrid electric drive system (106) comprising an electric motor (108) and an epicyclic gear system (110), a common propeller shaft (236) and an internal combustion (IC) engine assembly (118) with a gearbox (116). The hybrid electric drive system (106) is configured between IC engine assembly (118), gearbox (116) and a rear axle differential (238). The hybrid electric drive system (106) performs dual role of allowing drive from each powertrain to be transmitted individually to wheels of the vehicle (102, 104) and adding the drive from each powertrain together and seamlessly transmitting to the wheels of the vehicle (102, 104). Power from both the IC engine (118) and the hybrid electric drive system (106) is transmitted by the common propeller shaft (236) to the rear axle differential (238) through a differential gear.