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This paper describes the development of a prototype parallel hybrid electric vehicle (HEV). Parallel configuration of HEV is achieved through an epi-cyclic transmission. A single stage epi-cyclic transmission is designed, developed and integrated into a vehicle equipped with conventional manual transmission. An internal combustion diesel engine and an electric motor are connected through epi-cyclic transmission to the propeller shaft of the vehicle. This parallel HEV provides five basic modes of operation namely engine mode, electric mode, power mode, engine/charge mode and regenerative braking mode. Each of these modes is obtained with the help of an electromagnetic clutch and brake integrated in the epi-cyclic gearbox. The selection of a mode depends upon the requirements of the vehicle. A feasible clutching logic and control strategy of parallel HEV is developed for operation of the vehicle in city, highway and high power requirement conditions.