We report experimental results, showing that the Kerr beam self-cleaning of many low-order modes in a graded-index multimode fiber can be controlled thanks to optimized wavefront shaping of the coherent excitation beam. Adaptive profiling of the transverse input phase was utilized for channeling the launched power towards a specific low-order fiber mode, by exploiting nonlinear coupling among all guided modes. Experiments were carried out with 7 ps pulses at 1064 nm injected in a five meters long multimode fiber operating in the normal dispersion regime. Optimized Kerr beam self-cleaning of five different LP modes is reported, with a power threshold that increases with the mode order.