A method of searching for a touch point of a clutch may include a reference measurement step of measuring angular acceleration of an input shaft while a gear of a non-drive shaft may be being engaged and disengaged, a clutch operation step of engaging the gear disengaged at the reference measurement step and manipulating a clutch of the input shaft to a currently stored touch point, a target measurement step of measuring angular acceleration of the input shaft while disengaging an engaged gear in a state of maintaining the clutch operated at the clutch operation step, and a learning step of learning and updating the touch point by comparing the angular acceleration of the input shaft measured at the target measurement step with the angular acceleration measured at the reference measurement step.