Provided is a method to control a hybrid powertrain to achieve a reverse drive, wherein the hybrid powertrain comprises an internal combustion engine; a gearbox with an input and output shaft; a first planetary gear connected to the input shaft and a first main shaft; a second planetary gear connected to the first planetary gear and a second main shaft; first and second electrical machines respectively connected to the first and second planetary gears; one gear pair connected with the first main shaft and the output shaft; and one gear pair connected with the second main shaft and the output shaft, wherein the internal combustion engine is connected with the first planetary gear via the input shaft. The method comprises: ensuring that moveable component parts in the first planetary gear are disconnected from each other and/or that moveable component parts in the second planetary gear are disconnected from each other; ensuring that an output shaft in the internal combustion engine is prevented from rotating; and controlling the first electrical machine and/or second electrical machine to achieve a negative torque in the output shaft via the first main shaft and/or second main shaft.