In this paper, we consider a joint drift rate control and two-sided impulse control problem in which the system manager adjusts the drift rate as well as the instantaneous relocation for a Brownian motion, with the objective of minimizing the total average state-related cost and control cost. The system state can be negative. Assuming that instantaneous upward and downward relocations take a different cost structure, which consists of both a setup cost and a variable cost, we prove that the optimal control policy takes an $\left\{ {\!\left( {{s^{\ast}},{q^{\ast}},{Q^{\ast}},{S^{\ast}}} \right),\!\left\{ {{\mu ^{\ast}}(x)\,:\,x \in [ {{s^{\ast}},{S^{\ast}}}]} \right\}} \right\}$ form. Specifically, the optimal impulse control policy is characterized by a quadruple $\left( {{s^{\ast}},{q^{\ast}},{Q^{\ast}},{S^{\ast}}} \right)$, under which the system state will be immediately relocated upwardly to ${q^{\ast}}$ once it drops to ${s^{\ast}}$ and be immediately relocated downwardly to ${Q^{\ast}}$ once it rises to ${S^{\ast}}$; the optimal drift rate control policy will depend solely on the current system state, which is characterized by a function ${\mu ^{\ast}}\!\left( \cdot \right)$ for the system state staying in $[ {{s^{\ast}},{S^{\ast}}}]$. By analyzing an associated free boundary problem consisting of an ordinary differential equation and several free boundary conditions, we obtain these optimal policy parameters and show the optimality of the proposed policy using a lower-bound approach. Finally, we investigate the effect of the system parameters on the optimal policy parameters as well as the optimal system’s long-run average cost numerically.