An embodiment includes a method of engaging a PTO with a drivetrain includes detecting a value representative of the speed of a PTO output gear, and detecting a value representative of the speed of a PTO input gear. The method further includes reducing the speed of one of the PTO output gear and the PTO input gear, and engaging the PTO input gear with the PTO output gear without the use of a clutch to synchronize the speed of the PTO input gear with the PTO output gear.