The least amount of time spent slipping a clutch minimizes the time that the facings are "scuffing" against the mating surfaces going from ZERO RPM from a dead stop up to engine RPM = longer friction material service life. The description that I use for this is to bring the clutch pedal up (engage) in one continuous sweeping motion w/o hesitation with the engine at idle. Just like several have mentioned how Class 8 trucks engage the clutch, good example. The keys should be not too fast and not too slow, get the clutch locked up and then start rowing. I think the best hand/foot and ear coordination would have a minimum of scuffing for all upshifts, trying to match engine RPM to next gear selected. One disclaimer, this technique needs modification for a majority of the other vehicles out there, eg. 4 cyl gas engines need a bit of throttle RPM matching to keep them from stalling the engine during engagement.
Lugging needs a mention. We have significant torque but using the incorrect gear for the speed, load and acceleration situation causes serious oppourtunity for torsion damper wear. And, yes I think it is safe to add the damper in the DMF to this description.
We personally replaced the F I F T H (yes 5th) clutch in a Mitusbishi Spyder 3. 0L at at 47,000 miles. Turns out the mid life crisis owner had a habit of engaging the clutch at about 2500 RPM plus, he just didn't know. He also got some real poor servicing. Details upon request, PDF file.
Without knowing what the reason for replacement (slippage or DMF issues, pictures tell great stories) from the OP not much else to offer.