A battery control module for a battery system includes a pulse-width modulation (PWM) module that generates N PWM signals. The battery control module also includes a contactor control module that consecutively applies the N PWM signals to close a contactor in order to connect a battery to a load. Application of a first one of the N PWM signals moves the contactor at a first velocity from an open position and application of a second one of the N PWM signals moves the contactor at a second velocity to a closed position. The first velocity is less than the second velocity. N is an integer greater than one.