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Go into the menu and click options -> controls -> choose preset -> Controller
After you change your preset you can use either your keyboard or controller to navigate the menu.
A downside I ran into is that the game does not recognize the left and right triggers well (accelarate and brake). The car will only accelerate slowly and peak around 40mph. This has something to do with the game not recognizing the triggers on the controller. I reasigned the the break/throttle to the A and X button and now I can play the game properly.
Hope this helps.
My xbox One controller is wireless and I use the xbox adapter to connect it on my Windows 10 pc.
If you are using Windows 7, or 8 I suggest plugging in your controller, turning it on, and then running a windows update on your pc. The reason for this is that Windows 7 and 8 do not come with a pre-installed driver for the controller. If the driver is not installed it should be found during the update.
If you have windows 10 the driver is supposed to be already installed. I suggest doing the same steps and running a windows update just to make sure there isn't a new driver update available.
If after the update you still do not have a working controller i suggest looking at verifying the pairing is working.
The official xbox support page on pairing the controller to a PC is helpful:
https://support.xbox.com/en-US/xbox-on-windows/accessories/connect-xbox-one-controller-to-pc
Specifically watch out to make sure that you have bluetooth enabled on your PC or the adapter is recognized by the PC. This step is near the bottom of the xbox link:
Windows 10 Bluetooth connection
5. On your PC, select Start, then Settings > Devices > Bluetooth.
6. Turn on Bluetooth so your PC can discover Bluetooth devices.
7. Select Xbox Wireless Controller > Pair.
Windows 10 Verify Xbxo Wireless Adapter is recognized (if you have an adapter)
On your PC select Start, then Settings > Devices > Connected devices
You should see a connected device called "Xbox Wireless Adapter for Windows"
Testing
I found the easiest way to test if the controller works is by opening steam and turning on "big picture". Big picture can be controlled by remote, and will allow you to know immediately if the controller works without having to load up a game.