Embodiments of the present invention provide a system comprising: a first controller operable to assume one of a plurality of respective states, in each of a predetermined one or more first states the first controller being configured automatically to generate a torque control signal to request an amount of positive torque applied by at least a first torque control system to one or more wheels of a vehicle and cause a vehicle to operate in accordance with a target speed value, and in each of a predetermined one or more second states the first controller being configured not to request by means of the torque control signal the amount of positive torque applied by the first torque control system to one or more wheels, wherein when the first controller switches from a first state to a second state the first controller is configured to cause a reduction, over time, in an amount of any torque that the torque control signal is causing the first torque control system to apply to one or more wheels.