Manual transmission gear rattle is the result of repetitive impacts of gear meshing teeth within their backlash. This NVH phenomenon is a major industrial concern and can occur under various loaded or unloaded conditions. It fundamentally differs from other transient NVH phenomena, such as clonk or thud, which are due to impulsive actions. However, they all have their lowest common denominator in the action of contact/impact forces through lubricated contacts. Various forms of rattle have, therefore, been defined: idle rattle, drive rattle, creep rattle and over-run rattle. This paper presents a dynamic transmission model for creep rattle conditions (engaged gear at low engine RPM). The model takes into account the lubricated impact force between a gear teeth pair during a meshing cycle as well as the friction between their flanks. Hertzian contact conditions are applied to the gear pair along the torque path. Additionally, isoviscous hydrodynamic regime of lubrication is assumed for unselected (loose gear pairs) with lightly loaded impact conditions. The highly non-linear impacts induce a range of system response frequencies. These include engine order harmonics, harmonics of meshing frequency and natural frequencies related to contact stiffness. The last of these are dependent on the contact geometry and lubricant rheology. The analysis includes lubricant viscosity variation due to generated contact pressures as well as temperature. For loose gears, subject to oscillations on their retaining bearings, bearing friction is also considered.