2D Car movement using torque

I’m trying to create a game similar to Hill Climb Racing, but I’m not sure how to make my car move like that. I can move it using velocity, but I don’t want to do that. I want to make the wheels spin when I press the ‘D’ key. However, I can’t find any helpful topics on motors and torque, so I decided to open this thread. Can anyone help me with how to move the car in this way? Also, what is the ‘joint ID’ and how does it work?

In order to make the wheel spin when moving the car forward or backwards you need to add in your own animation of the wheel spinning where it says “add action” on the right of “d” and “a” key pressed.

Then you need to indent the “d” key pressed and “a” key pressed to the first indentation:

Finally in the same event where the “d” and “a” key is pressed add in force on how fast you want the car to go:

Have you checked this example?