Hybrid electric vehicle and control method thereof

A method of controlling a hybrid electric vehicle including a transmission omitting an R (reverse) stage gear, the method comprising:

• when a state of an engine clutch is unknown by a hybrid controller of the hybrid electric vehicle, determining, by the hybrid controller, that a preset condition for control of the engine clutch is satisfied, wherein the preset condition includes the transmission being in an N stage gear or a P stage gear;
• after determining that the preset condition is satisfied when the state of the engine clutch is unknown:
• driving, by the hybrid controller, one of a first driving source disposed at a first end of the engine clutch or a second driving source disposed at a second end of the engine clutch;
• determining a result based on whether the other one of the first driving source and the second driving source that is not being driven by the driving step rotates;
• determining whether the engine clutch is opened depending on the determined result;
• and
• prohibiting driving in reverse when the engine clutch is determined to be unopened.