A method is provided for controlling a prime mover adapted to drive at least one ground engaging element of a working machine. The method includes receiving an operator control input indicative of the control of the prime mover and determining at least one operation signal in response to the operator control input, which operation signal is sent for controlling the prime mover. The method also includes receiving a operating state input indicative of an operating state of the machine and selecting a control mode from at least one speed control mode in which the determined operational signal comprises a desired speed of the prime mover and at least one torque control mode in which the determined operational signal comprises a desired torque of the prime mover in response to the operating state input.