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Generation mechanism and characteristics of idling rattle are systematized analytically by experiments on vehicle and digital simulation of nonlinear torsional vibration system for an inline four-cylinder four-cycle compact diesel engine. Jumping and hysteresis of the noise level are caused by both decreasing engine torque fluctuations while engine rotating velocity increases, and clutch-disc torsional characteristics of two-staged hardening spring. An improved clutch disc with a decreased noise level of 5 dB (A) was developed clarifying the optimum combination of disc characteristics, and permitting engine rotating velocity, where jumping occurs, below idling rotating velocity.