To provide a coaxial two-wheel vehicle that allows a person to easily get off the vehicle with high safety, and a method of controlling the same. A coaxial two-wheel vehicle according to the present invention includes step portions on which feet are placed, and a handle capable of operating back-and-forth movements, and said vehicle moves with a passenger riding thereon. Upon detecting that the passenger gets off the vehicle by using a getting-off switch or the like, a control device of the coaxial two-wheel vehicle performs an assist control for getting-off the vehicle by increasing an inclination angle of each of the step portions with respect to a direction in which the passenger gets off the vehicle.