A method of controlling a hybrid vehicle including an engine, a motor, a friction engagement element provided between the engine and the motor to be disengageable, and a motor speed sensor configured to detect speed of the motor, the method comprising the steps of: shifting the friction engagement element from a released or disengaged state to one of a slipping state and an engaged state, and performing a motor control in which the engine is started using the motor in response to a startup demand of the engine in a stopped state during traveling of the hybrid vehicle; applying, as the motor control, a first control in which a target speed to be set for the motor is instructed and feedback control of the motor is performed based on the speed detected by the motor speed sensor so that the motor speed becomes the target speed; determining whether a motor control switching condition for switching the motor control from the first control to a second control is satisfied, the second control being a control in which a target torque to be outputted from the motor is instructed and the motor is caused to output the target torque; and switching the motor control from the first control to the second control when the motor control switching condition is determined to be satisfied, wherein the friction engagement element is a first friction engagement element, and the hybrid vehicle further includes a second friction engagement element different from the first friction engagement element and provided between the motor and a vehicle wheel to be disengageable, characterized by the method further comprising the step of shifting the second friction engagement element from an engaged state to a slipping state in response to the startup demand of the engine, and shifting the second friction engagement element from the slipping state to the engaged state after the startup of the engine, wherein the motor control switching condition includes a condition that, by the shifting the second friction engagement element from the slipping state to the engaged state, a differential rotation between a shaft on a motor side and a shaft on a vehicle wheel side in the second friction engagement element becomes below a given value, and a transmission torque capacity of the second friction engagement element becomes above a given capacity. shifting the friction engagement element from a released or disengaged state to one of a slipping state and an engaged state, and performing a motor control in which the engine is started using the motor in response to a startup demand of the engine in a stopped state during traveling of the hybrid vehicle; applying, as the motor control, a first control in which a target speed to be set for the motor is instructed and feedback control of the motor is performed based on the speed detected by the motor speed sensor so that the motor speed becomes the target speed; determining whether a motor control switching condition for switching the motor control from the first control to a second control is satisfied, the second control being a control in which a target torque to be outputted from the motor is instructed and the motor is caused to output the target torque; and switching the motor control from the first control to the second control when the motor control switching condition is determined to be satisfied, wherein the friction engagement element is a first friction engagement element, and the hybrid vehicle further includes a second friction engagement element different from the first friction engagement element and provided between the motor and a vehicle wheel to be disengageable, characterized by the method further comprising the step of shifting the second friction engagement element from an engaged state to a slipping state in response to the startup demand of the engine, and shifting the second friction engagement element from the slipping state to the engaged state after the startup of the engine, wherein the motor control switching condition includes a condition that, by the shifting the second friction engagement element from the slipping state to the engaged state, a differential rotation between a shaft on a motor side and a shaft on a vehicle wheel side in the second friction engagement element becomes below a given value, and a transmission torque capacity of the second friction engagement element becomes above a given capacity.