Hybrid vehicle and control method thereof

A hybrid vehicle using an engine and a motor as a power source, comprising:

• an input configured to receive user selection for terrain mode;
• a hybrid starter generator (HSG) connected to the engine and configured to operate as a start motor to turn on the engine, and operate as a generator that performs idle charging when the engine is turned on;
• a battery electrically connected to the HSG;
• and
• a controller configured to perform idle charging when a state of charge (SOC) of the battery is less than or equal to a first SOC using the HSG by turning on the engine,
• wherein the controller is configured to adjust the SOC of the battery to perform the idle charging based on a second SOC greater than the first SOC when the controller enters the terrain mode.