A control device for a hybrid vehicle has an engine, a motor configured to output a driving force of the vehicle and performing a startup of the engine, a first engagement element interposed between the engine and the motor that selectively connects and releases the engine and the motor, a second engagement element interposed between the motor and a driving wheel that selectively engages and releases the motor and the driving wheel, a driving force transmission system load detecting device that either detects or estimates a load of the driving force transmission system, and an engine/motor slip drive control unit that slip engages the first engagement element with the engine maintaining in rotating state at a predetermined rotation speed, and slip engages the second engagement element with the motor at a rotation speed lower than the predetermined rotation speed.