[_Ogre]

if your grinding and engaging at the top of your pedal, your clutch is out of adjustment.
there should be 3/4'' free play in your pedal at the top end.
you have a clutch pedal, adjustable rod and clutch fork; not many parts to discuss.
adjust the rod until you have the 3/4'' free play at the top of the pedal.

the free play at the top is to make sure your fully engaged on the clutch and have no load on the throw out bearing.
once your out of free play the throw out bearing is constantly spinning at motor speed.
engaging too low can make the gears grind from the clutch not fully disengaging.
normal wear on the clutch disk brings the pedal higher and looses the free play.