To switch between 2WD and 4WD, you must come to a complete stop. In 2WD mode, all engine torque will go to the rear wheels. To change to 4WD-L, you must first disengage the front axle by depressing the shift lever into Reverse. Once in 4WD-L mode, the center differential will provide varying levels of engine torque to each wheel depending on which one is travelling the fastest.