I had a car of 200 kg and wheel dia of 0.2 m. I actually want to know how much torque is needed to move the vehicle from rest? Can any one help me with the solution?

This is like asking how much force does it take to move an object. If you don't care how quickly it accelerates then all you need is enough force to overcome friction. And if you ignore friction then the answer is just a tad above 0. Same thing with torque needed to rotate a wheel - for this vehicle on level ground and ignoring friction all it takes is a bit of torque (anthing >0) to get it moving. However if you want the vehicle to accelerate at a certain rate, or to be able to go up an incline of a certan pitch, then we can calculate a more realistic answer.