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1984 CRX with manual transmission.
Will not go into gear when the engine is running, but will when it is off.
If I put it into gear and try to start car with the clutch pedal down, it stays engaged and it lurches forward.
Have you checked the play at the clutch arm on the transmission? You can adjust the play at the transmission by threading in/out the adjustment nut. It sounds as though yours may be out of spec.
Grab the end of the arm and wiggle it up and down, you should feel some play, yours may have more play than Honda recommends (4-5mm). If you thread the nut down you can reduce your freeplay to Honda spec.
I had the same problem with a '91. Eventually I just put into 1st, started it and just gunned it. And then rocked it a bit. I think corrosion just froze the tranny a bit.