The grid voltage is normally required to avoid transient current of the inverter due to asynchronously grid-paralleling connection. This paper presents a seamless transition method to allow the inverter to connect to the grid at any time with no requirement of the grid voltage. The control of the inverter consists of the droop control and the riding-through control. In the droop-controlled mode, the inverter can connect to the utility and supply power according to its rated capacity. On the other hand, the riding-through mode is proposed to suppress the transient current due to asynchronous paralleling. In this mode, the zero-current control is realized to reduce transient current and a phase-locked loop is designed to correct the angle of the inverter output voltage. In addition, the virtual inductance is implemented to improve transient current resulting from the mode transition back to the droop control mode. Design considerations of the seamless transition method are provided and test results are conducted to verify its effectiveness.