A method for applying a torque for vibration reduction and controlling the torque in a vehicle parking system may include detecting a driver's intention to release a parking state of a vehicle being parked on a slope and applying an offset torque to the parking gear to offset the torque generated by the weight of the vehicle and the gradient of the slope. An apparatus for applying the method may include a torque converter and a gear unit for amplifying and applying the output torque from an engine in an idle state to the parking gear, and/or a drive motor which is directly connected to the parking gear, generates a torque using a power of a battery, and applies the torque to the parking gear.