A method of learning a kiss point of a first clutch of a dual clutch transmission includes controlling a rotational speed of the input shaft to be within a pre-determined range. When both the first clutch and the second clutch are determined to be disengaged from the input shaft, and the rotational speed of the input shaft is within the pre-determined range, then the first clutch is moved from a disengaged position into an engaged position. An increase in a rotational speed of a first transmission shaft, which is coupled to the first clutch, is detected. When the increase in the rotational speed of the first transmission shaft is detected, a position of the first clutch is identified. The identified position of the first clutch is saved in a memory of a transmission control module as a learned first clutch kiss point.