In this paper, we formulate a design for a hybrid force-position controller (HFPC) for a hydraulically actuated excavator arm and perform simulative validation of the proposed approach. The concept of an HFPC by Raibert et al. [1] is adapted for a hydraulically actuated system and reformulated in order to enable path tracking. The result is a control regime which steers the controlled member, i.e., the tool center point (TCP), along an arbitrary trajectory where the force controlled vector points tangentially or orthogonally to the trajectory and the position controlled vectors are perpendicular toward the force direction. The controller incorporates a computed torque controller (CTC) [2, p. 174 et sqq.] compensating for conservative forces as well as inertia and Coriolis forces. Due to the selected actuation method of hydraulic cylinders, the torque requirements are transformed into velocity and pressure requirements. In order to control both velocity and pressure, individual control at inlet and outlet of the cylinders is necessary. This is accomplished with an independent metering valve control system. The performance of the developed system is evaluated on two use cases—the collision with a rigid object and the limitation of the resulting contact force and the sliding along a surface with a defined orthogonal force. In both cases, the expected force control behavior is achieved while maintaining system stability when switching between the control regimes.