Transmission engagement control during an engine restart of a hybrid electric vehicle

A method for controlling transmission engagement during restart of an engine in a hybrid electric powertrain includes moving a gear lever between a forward position and reverse position, using electric power to drive an auxiliary pump whose output causes a transmission to engage a gear that corresponds to the lever position and to stroke, to zero torque capacity, an oncoming clutch that corresponds to said gear, initiating the restart, and discontinuing use of the auxiliary pump.