A method to control a marine vessel comprising two or more drive units ; 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 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 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 to displace the vessel along a diagonal course (C 1 ) at the adjusted vessel heading (h 3 ) towards the reference line (R 1 ). <EOS>