A vehicle mode controller, a driving mode collecting means, and a plurality of subsystem controllers including an engine management system, a transmission controller, a steering controller, a brakes controller and a suspension controller, provide an improved system and method of operating a vehicle control system in a host vehicle in a manner suitable for a respective driving surface in a plurality of different off-road surfaces and terrains such as might be encountered when driving off-road. An improved method is provided for controlling a vehicle control system by avoiding unplanned combinations of subsystem configuration modes and minimizing the transition time when changing between subsystem configuration modes.