Provided is a method for controlling a dual clutch transmission of a vehicle with a first clutch associated with a first set of gears and a second clutch associated with a second set of gears. The method includes the steps of a) engaging the first clutch to transmit the torque through one of the associated first set of gears, while the second clutch is not engaged, and b) thereafter engaging, before the first clutch is fully closed, the second clutch at least partially and releasing the first clutch assembly until the first clutch is completely disengaged.