Mutually exclusive behaviors in animals are often driven by independent motor subcircuits that directly or indirectly inhibit each other. For example, in the nematode C. elegans, motor circuits for forward and backward locomotion are gated by premotor interneurons AVB and AVA respectively, which are thought to be connected via reciprocal inhibition. In this study, we dissect the interactions between forward and motor subcircuits in C. elegans by genetic manipulation of AVA's activity via cell-specific characterization of a two-pore potassium channel (TWK-40). AVA has an unusually depolarized resting membrane potential (RMP). Perturbations to its RMP through AVA-specific TWK-40 loss-of-function and AVA-specific TWK-40 gain-of-function, led to dramatic changes in both forward and backward motor activity. AVA, thus regulated both backward and forward locomotion in C. elegans, functioning as a master neuron for overall locomotion. These effects required chemical transmission from AVA and were dependent on AVB neurons. We were able to reconcile results of genetic perturbation with optogenetic manipulation by carefully designed stimulation protocols. Finding that phasic optogenetic activation of AVA leads to backward locomotion, while tonic optogenetic activation potentiates forward locomotion. These results propose that a single neuron can regulate the activity of motor circuits generating two mutually exclusive behaviors.