A vehicle that efficiently prevents a driver from eavesdropping a voice of a passenger may include: a driver's seat having a headrest speaker in a headrest thereof; the headrest speaker configured to output a sound, a front passenger seat, at least one rear passenger seat; a microphone configured to detect a voice of the passenger seated on the at least one rear passenger seat; and a controller configured to generate a masking curve based on the voice of the passenger and output a masking sound corresponding to the masking curve by controlling the headrest speaker.