Disclosed a system and method of learning and controlling a torque transmission kiss point of an engine clutch. In particular, a determination is made as to whether power transference to a transmission transmitting an output from the engine and the motor has been interrupted, and whether the engine is being driven. The motor is then controlled so that a speed of the motor is maintained at a set speed different from a speed of revolutions of the engine when the power transference to the transmission has been interrupted and the engine is being driven. A state change of the motor is then detected while increasing hydraulic pressure applied to the engine clutch at a set ratio and a torque transmission kiss point of the engine clutch is calculated based on the state change of the motor.