A system and method for controlling engine starting in a hybrid vehicle having an engine, a first electric machine selectively coupled to the engine by a first clutch, a second electric machine coupled to the engine, a step-ratio transmission selectively coupled to the electric machine by a second clutch include starting the engine using either the first electric machine or the second electric machine based on engine stop position. The first electric machine may be a low voltage starter motor or integrated starter-generator. The system and method may use the first electric machine when the engine stop position is within a specified range of positions relative to a piston top dead center position associated with higher cranking torques.