A method for controlling a machine during a transition from a service brake state to a parking brake includes receiving, by a control module, a request for activating a parking brake assembly. The method also includes transmitting, by the control module, control signals for activating a set of first brakes associated with a service brake assembly, a set of second brakes associated with the service brake assembly, and a clutch assembly. The method further includes controlling, by the control module, the set of first brakes for deactivating the set of first brakes. The method includes controlling, by the control module, the parking brake assembly for activating the parking brake assembly. The method also includes controlling, by the control module, the set of second brakes for deactivating the set of second brakes. The method further includes controlling, by the control module, the clutch assembly for deactivating the clutch assembly.