How do I adjust the clutch? Clutch engages when

The clutch is not fully disengaging. Adjust the clutch cable to obtain a 1/2 inch of free play at the top of pedal stroke. If clutch adjustment is not correct, damage to synchronizers or clutch release bearing will occur. Your clutch should begin to engage about an inch off the floor when releasing the clutch pedal.

U need a new clutch, period.

Your pedal height may be adjustable by a stopper bolt at top of pedal. You would have to check the specification for your car. Most important that the pedal has about a half inch free travel before clutch begins to engage. You need that free play to ensure the release bearing (the throw-out bearing) is not touching the fingers on the pressure plate when not engaged. If it always is touching, it will be rolling around constantly and will go out prematurely.
Your new clutch will allow gear engagement sooner as the clutch pedal is released. I mean gears will engage just as pedal is lifting off from floor. You should notice that difference-the old clutch would have taken longer pedal travel from floor before releasing.

I would try adjusting the clutch master such that the point of engagement at the pedal, is further from the floor. This will effectively increase the travel of the clutch slave and possibly solve your problem. The clutch master pushrod should have an adjustment behind the pivot at the pedal bracket. Usually a lock nut has to be loosened off a little and then the rod screwed out of it's holder to effectively lengthen it.

once you have bled out all the air ,if the pedal still engages right down then suspect the fingers on the release plate are worn.Never replace a part of the clutch, allways change all 3 components,it save all the hastle of taking it to bits again and again.

I assume it is a cable operated clutch. If so the adjustment is tightened so that there is about 1/2 to 1" of pedal travel to clutch operation, provided the gears can be selected smoothly.

you dont normally change clutch lining .. you replace the "clutch plate" .. that includes lining .. you have to remove the transmission to get at the clutch plate .. if your clutch is just slipping (not chattering) then that could be just the clutch "free pedal" adjustment ... you should have some free movement of the clutch pedal before it engages the clutch .. maybe an inch or two .. you should feel resistance only after you move the pedal that far .. if there is no free pedal then it may be keeping the clutch from fully engaging .. the free pedal adjustment is usually easy to do and not expensive ..

It's probably a hydrolic clutch and on those there is no adjustment you'll probably just have to bleed the clutch. There is a bleeder screw similar to one for disc brakes on the top or side of the clutch slave cylinder.

Two things, first does it slip at all? If you put it in high gear and hammer it, does the engine rev up? If so, you may have a spring problem causing the clutch to not fully contact the pressure plate and will result in this problem.

Is the fluids in the master cylinder full? Do you have a leak? Bad pressure? I'd check those before going on to more difficult remedies.

Personally, by the way you're describing it, I'd say it's a spring. Especially since it's engaging and disengaging correctly. Maybe an adjuster somewhere came loose? I'm not sure with the Explorer, but I know my friends `00 F-150 had an adjuster snap causing a very similar problem but the clutch just wouldn't grab at all due to his problem.