My P5 is my second 5 speed -- I taught myself how to drive stick on a 95 Neon. If you want to find the point at which the clutch grabs...go to a parking lot. Stop the car, and without using any gas, slowly let the clutch out. If you let it out slowly enough it won't stall. Do this a dozen times, or until you feel confident about where the clutch grabs.
Once you learn this, keep the car in neutral at stop lights with the clutch out. Holding the clutch in just prematurely wears the springs, which will eventually make your clutch sloppy and ultimately fail. It takes time to do this - a couple years -- so doing it just for now shouldn't do too much harm.
Good luck with the learning curve...and let us know when you want to learn how to "heel-and-toe" -- an advanced downshifting technique that's useful in corners!