A method to control a marine vessel comprising two or more drive units (102, 103); the method involving the steps of: - registering an operating command indicating a requested vessel direction (h 1; H 1); - plotting a course represented by a reference line (R 1; R 2) for the requested vessel direction (h 1; H 1) from an initial position (p 1; P 1); - monitoring if the vessel has deviated from the reference line (R 1; R 2); and if a deviation from the reference line (R 1; R 2) is detected; - detecting a value for current vessel speed (V 1; V 2); - comparing the current vessel speed value (V 1; V 2) to a predetermined reference speed value (V ref); - registering if the current vessel speed value (V 1; V 2) is within a high speed interval or a low speed interval relative to the reference speed value (V ref), and depending on the registered speed interval; i) controlling the vessel according to a low speed control strategy; or ii) controlling the vessel according to a high speed control strategy; in order to move the vessel from a current vessel heading (h 2; H 2) to the reference line (R 1; R 2) and the requested vessel direction (h 1; H 1), characterized in that said controlling of the vessel according to a low speed control strategy comprises: - adjusting the current vessel heading (h 2) and maintaining an adjusted vessel heading (h 3) parallel to the reference line (R 1) and the requested vessel direction (h 1); and - controlling the two or more drive units (102, 103) to displace the vessel along a diagonal course (C 1) at the adjusted vessel heading (h 3) towards the reference line (R 1). - registering an operating command indicating a requested vessel direction (h 1; H 1); - plotting a course represented by a reference line (R 1; R 2) for the requested vessel direction (h 1; H 1) from an initial position (p 1; P 1); - monitoring if the vessel has deviated from the reference line (R 1; R 2); and if a deviation from the reference line (R 1; R 2) is detected; - detecting a value for current vessel speed (V 1; V 2); - comparing the current vessel speed value (V 1; V 2) to a predetermined reference speed value (V ref); - registering if the current vessel speed value (V 1; V 2) is within a high speed interval or a low speed interval relative to the reference speed value (V ref), and depending on the registered speed interval; i) controlling the vessel according to a low speed control strategy; or ii) controlling the vessel according to a high speed control strategy; i) controlling the vessel according to a low speed control strategy; or ii) controlling the vessel according to a high speed control strategy; in order to move the vessel from a current vessel heading (h 2; H 2) to the reference line (R 1; R 2) and the requested vessel direction (h 1; H 1), characterized in that said controlling of the vessel according to a low speed control strategy comprises: - adjusting the current vessel heading (h 2) and maintaining an adjusted vessel heading (h 3) parallel to the reference line (R 1) and the requested vessel direction (h 1); and - controlling the two or more drive units (102, 103) to displace the vessel along a diagonal course (C 1) at the adjusted vessel heading (h 3) towards the reference line (R 1). - adjusting the current vessel heading (h 2) and maintaining an adjusted vessel heading (h 3) parallel to the reference line (R 1) and the requested vessel direction (h 1); and - controlling the two or more drive units (102, 103) to displace the vessel along a diagonal course (C 1) at the adjusted vessel heading (h 3) towards the reference line (R 1).