The clutch release bearing is probably dragging and causing the transmission shaft to continue turrning after the clutch is disengaged. If there is a place to lube it, give it a couple shots of grease. I think the lube point would be through the hand hole on the bottom of the clutch housing. Beyond that, you can wait a few seconds after you disengage the clutch for things to stop or you can move the shift lever to the reverse side of neutral and press the lever forward (there is no gear there). Doing this will put some pressure on the transmission and help to stop the gears from rotating and then you can shift into gear without grinding.
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