A transmission includes a selectable one-way clutch with an active state and a passive state. To avoid occupant discomfort and hardware damage, transitions from the passive state to the active state must only be commanded when no or very little slip is present across the selectable one-way clutch. Several methods are presented to eliminate slip, depending on vehicle speed. When the vehicle is stationary, full engagement of a clutch that causes slip to be proportional to vehicle speed eliminates slip. When the vehicle is moving backwards, partial engagement of the above clutch eliminates slip. When the vehicle is moving forwards, full engagement of all but one clutch of a tie-up condition and partial engagement of the remaining clutch of the tie-up condition brings the vehicle to a stop and eliminates slip.