This paper provides results of feasibility study of time domain passivity approach for bilateral teleoperation of mobile manipulator. Mobile manipulator in this study is a manipulator mounted on mobile platform. We consider bilateral teleoperation system in which human-operator sequentially controls speed of mobile platform (rate mode) or position of manipulator via manipulating haptic master device. Force feedback is transmitted to human-operator based on physical interaction of manipulator end-effector with remote environment. Time-domain passivity has been successfully applied to teleoperation systems in which position of master robot was mapped to position of slave robot. In this paper attempt of application of time-domain passivity control for rate and position control of mobile manipulator is presented. Time- domain passivity application issues are described and analyzed. Experimental results showed possibility of application of time-domain passivity control for rate control in certain range.