A battery management system (BMS) manages a battery for a hybrid vehicle including an engine control unit and a motor generator controlled by the engine control unit and connected to a battery including at least one battery pack, each pack including a plurality of battery cells. The BMS includes a sensor and an MCU unit. The sensor detects temperature, current, and open circuit voltage (OCV) of the battery. The MCU receives the detected temperature, current, and OCV, calculates a key-off time period which is a period between a time point when a battery key-on state ends and a time point when a subsequent battery key-on state begins, calculates an OCV error range corresponding to an SOC error range detected at the key-off time point, and infers an initial SOC of the battery.