This really depends on what car you have, if it has a cable type clutch you need to make sure there is a little free-play in the pedal, tighten the cable just enough to be able to shift easily with the engine running without removing the free-play if the clutch slips loosen the cable. if it slips but you can't shift easily you need a new clutch.
If you have a hydraulic clutch and you can't shift bleed it, if it slips you need a new clutch. here again you need to have freeplay in the pedal for the master cylinder to work properly. hope this helps
ADJUSTMENT
Free-Play
See Figures 8, 9 and 10
The clutch free-play is adjusted automatically by a built-in clutch control mechanism. This device allows the clutch controls to self-adjust during normal operation.
The system consists of a spring-loaded gear quadrant, a spring-loaded pawl and a clutch cable which is spring-loaded to preload the release lever bearing. This compensates for movement of the release lever, as the clutch disc wears. The pawl, located at the top of the clutch pedal, engages the gear quadrant when the clutch pedal is depressed and pulls the cable through its continuously adjusted stroke. Clutch cable adjustments are not required because of this feature.
Fig. Fig. 8: Clutch self-adjusting system component identification for the 3.8L engine
CHECKING ADJUSTMENT
The self-adjusting feature should be checked every 5,000 miles (8,000 km). This is accomplished by ensuring that the clutch pedal travels to the top of its upward position. Grasp the clutch pedal with your hand or put your foot under the clutch pedal, and pull up on the pedal until it stops. Very little effort is required (about 10 lbs./4.5 kg). Finally, depress the clutch pedal and listen for an audible "click.'' If you hear a sound, the clutch was in need of adjustment, and it has just adjusted itself.
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