A method and system of controlling a vehicle 10 having a control system and a driveline comprises detecting driveline shudder and modifying the traction control system output in response to detecting driveline shudder to reduce the driveline shudder. The driveline shudder may be detected in various ways including determining the average driven wheel acceleration signal. Methods for controlling driveline shudder include changing the target slip and changing the engine output torque.