A hybrid system and method is configured to achieve and maintain a touch point for a clutch so as to allow an engine to rapidly restart. The hybrid system includes an eMachine configured to start the engine. The clutch is configured to operatively connect and disconnect the eMachine and the engine. A motor torque PID controller is configured to operate the eMachine at a desired speed by regulating torque of the eMachine. A clutch pressure PID controller is configured to actuate the clutch to a touch point by regulating clutch pressure. The motor torque PID controller and the clutch pressure PID controller include a compensation function to account for a change in torque caused by actuation of the clutch by the clutch pressure PID controller.