Method for controlling a telescopic lifting device, the telescopic lifting device comprising the following components: - a set of telescopically extendable elements to be extended or retracted in a linear direction with respect to each other, the set being pivotally mounted to a base to be elevated around a horizontal pivot axis, - a telescopic arm attached to the free end of the set which can be articulated with respect to the set and telescopically extended and retracted, - and a rescue support element mounted to the free end of the arm, said method comprising the automatic transformation of a control command for moving the rescue support element into movements of components of the telescopic lifting device, wherein the movement of the arm includes an articulation of the arm with respect to the set and/or a telescopic extension or retraction of the arm, wherein the movement of the arm is controlled according to a working condition of the telescopic lifting device, said working condition comprising including at least one of the following parameters: - the horizontal distance between the rescue support element and the base, - the vertical distance between the rescue support element and the base, - the elevation angle of the set, - the extension length of the set; characterized in that an articulation of the arm is prioritized over a telescopic extension or retraction of the arm or vice versa depending on an elevation/declination speed of the set and/or an extension/retraction speed of the set. the telescopic lifting device comprising the following components: - a set of telescopically extendable elements to be extended or retracted in a linear direction with respect to each other, the set being pivotally mounted to a base to be elevated around a horizontal pivot axis, - a telescopic arm attached to the free end of the set which can be articulated with respect to the set and telescopically extended and retracted, - and a rescue support element mounted to the free end of the arm, - a set of telescopically extendable elements to be extended or retracted in a linear direction with respect to each other, the set being pivotally mounted to a base to be elevated around a horizontal pivot axis, - a telescopic arm attached to the free end of the set which can be articulated with respect to the set and telescopically extended and retracted, - and a rescue support element mounted to the free end of the arm, said method comprising the automatic transformation of a control command for moving the rescue support element into movements of components of the telescopic lifting device, wherein the movement of the arm includes an articulation of the arm with respect to the set and/or a telescopic extension or retraction of the arm, wherein the movement of the arm is controlled according to a working condition of the telescopic lifting device, said working condition comprising including at least one of the following parameters: - the horizontal distance between the rescue support element and the base, - the vertical distance between the rescue support element and the base, - the elevation angle of the set, - the extension length of the set; - the horizontal distance between the rescue support element and the base, - the vertical distance between the rescue support element and the base, - the elevation angle of the set, - the extension length of the set; characterized in that an articulation of the arm is prioritized over a telescopic extension or retraction of the arm or vice versa depending on an elevation/declination speed of the set and/or an extension/retraction speed of the set.