A shift by wire vehicle transmission (14) includes control methods for engaging gears after the vehicle has been at rest or coasting. When the vehicle is started from a stop or rest, a default starting gear is automatically selected. The driver can override the default gear and choose to start driving the vehicle in one gear above or below the default starting gear by manipulating a shift lever (30). Similarly, the driver can override the default starting gear to begin driving the vehicle in reverse. When the vehicle has been coasting, the transmission control unit (32) chooses the next gear based upon a signal that is provided when the driver manipulates the shift lever (30). Depending on the indicated desire of the driver, the system controller (32) automatically selects a gear depending upon vehicle speed and torque conditions.