For me I find it easiest to simply let the clutch out just a little bit until I feel the driveline enguage. At that point I can release the brake and let the clutch out more to go, or release the brake and just hang on the clutch. Gear choice will also dictate the success of that move. With practice you should be able to release the clutch just enough to hang on the clutch only if needed. I just about never get a burning smell from mine. Remember, a clutch is just the same as brake pads, they are made to slip. Even when completely off the clutch you can get some slippage, not as much as a torque converter but you will get some.