The present invention relates to a hybrid vehicle and control method of hybrid vehicle. In the case where a start command of an engine is given with a gearshift lever being operated to a parking position, when a cooling water temperature Tw is lower than a threshold value Twref, and a stop time tst of the engine is a threshold value tstref or longer (S 110 and S 120 ), a relatively large predetermined torque T2 is set to a power-holding torque Tg (S 140 ), and the power-holding torque Tg added to a torque for canceling a reaction torque is output from a second motor to motor and start the engine. This allows the engine to be started with a backlash between gears being eliminated even when resistance in motoring the engine is relatively large.