what I do is put the stick back to neutral, juggling it left and right a little bit (just like you check to see if ithe gear is in neutral when you first get in a car because some people put in gear to brake the car instead of using ebrake) you don't even have to put into any gear then engage, it should work fine.
You should do the same thing before you reverse the car that way you don't hear the grind noise. I notice it's not as bad as of Integra than other manual car.