This paper presents the driving and balancing control of an entertainment robot vehicle that can carry two persons. The entertainment robot vehicle is built with the purpose of carrying passengers with two wheels. It has two driving modes: a balancing mode with two wheels and a driving mode with three wheels. Three cases of different modes are verified by experimental studies. Firstly, a driving mode is tested with two passengers to check the functionality of the vehicle. Secondly, the balancing control performance is tested. Lastly, the balancing control performance under the disturbance is tested.