A bottom hole assembly (BHA) for use in drilling a wellbore includes: a first mud motor having a stator and a rotor; a second mud motor having a stator and a rotor; a drill bit rotationally coupled to the second rotor and having a tool face and a longitudinal axis inclined relative to a longitudinal axis of the first mud motor; and a clutch. The clutch is operable to: rotationally couple the second stator to the first stator in a first mode at a first orientation of the tool face, rotationally couple the first rotor to the second stator in a second mode, change the first orientation to a second orientation by a predetermined increment, orient the tool face at the second orientation in an orienting mode, and shift among the modes in response to a change in flow rate of a fluid injected through the clutch and/or a change in weight exerted on the drill bit.