A system and method for providing engagement of a dog clutch differential on a vehicle are disclosed. The system may comprise a power source, a dog clutch differential, a CVT and a controller. The dog clutch differential may have first and second members and may distribute torque between first and second output shafts. The second member may be moveable between a disengaged and an engaged position. When the second member is in the engaged position, the first and second output shafts may rotate together. The CVT may be configured to receive power from the power source and to provide output torque to the dog clutch differential. The CVT may receive a torque or speed or ratio command that is independent of engine speed. The controller may, in response to an activation trigger, move the second member to the engaged position when the output torque from the CVT is about zero.