This invention provides automatic and reliable determination of the touch point of a clutch controlled by an automatic clutch actuation controller. This invention determines the touch point while idling the engine, with the transmission in neutral and an inertial brake applied. The clutch actuation controller engages the clutch so that the measured transmission input speed matches a reference speed signal preferably between 40% and 60% of the idle speed. This reliably provides the degree of clutch engagement at a small torque matching the braking torque. When the transmission input speed is within a predetermined amount of the reference speed signal, such as 4%, this invention determines the clutch touch point corresponding to the degree of clutch engagement. This degree of clutch engagement may be a clutch position signal or a clutch pressure signal produced by an existing sensor used in the automatic clutch control. If no measured clutch engagement signal is available, this degree of clutch engagement may be the clutch engagement signal used to control the degree of clutch engagement. The touch point is set as the difference between this degree of clutch engagement for the small torque and a clutch touch point offset.