A method for mitigating clunk in a driveline of a vehicle system during a declutch event includes determining a current torque request of a prime mover based on an accelerator pedal position of an accelerator pedal of the vehicle system. The method includes determining a clutch pedal position and determining, via a controller, a clutch pedal speed based on a change of the clutch pedal position over time. The method further includes modifying, via the controller, the current torque request to obtain a modified torque request based on the clutch pedal position and the clutch pedal speed such that a stored potential energy in the driveline is minimized by a time that the clutch pedal of the vehicle system is disengaged during the declutch event.