Habits and goal-directed behaviour are often viewed as opposite extremes in the spectrum of human behaviour. However, some theoretical accounts hypothesize that the initiation of habits may underlie goal-directed control, as habits often contribute to the achievement of specific goals. Here, we test this hypothesis by using a task that concurrently measures habitual and goal-directed behaviour (Frölich et al., Frontiers in Neuroscience, 16 (2023)), see Figure. In this task, participants implicitly learn a hidden repeating action sequence over two days while instructed to maximize their performance in a goal-directed task that randomly interferes with the learned action sequence. Importantly, our task allows for high goal-directedness and high habit strength at the same time, as well as for goal-directed employment of the learned habit. We found that participants (i) maintain goal-directed behaviour throughout the experiment, (ii) developed habitual behaviour associated with the action sequence and (iii) employ their habitual behaviour as a function of its goal-directed value, depending on task context. These results support the hypothesis that habitual behaviour is at least in part modulated by goal-directed control. We analysed the data using two different approaches. First, hierarchical Bayesian model inference and model comparison of different reinforcement learning models shows that the best model allows for switching between task contexts, where context modulates the use of habit. Second, hierarchical drift-diffusion modelling based on both choices and reaction times confirmed this finding, especially that habit strength is modulated in a goal-directed manner depending on task context.