Start a phrase with gentle onset, stretch your vowels, and join your words. If you put your fingers on your throat, you'll feel that your vocal folds never stop vibrating. This is continuous phonation. If you keep this vibration going, you'll never stutter. Gentle onset and continuous phonation are not normal speech.
Normal speakers turn their vocal fold vibration on and off many times each second.
But if you practice, you can use gentle onset and continuous phonation and sound normal. Keep your speech production muscles relaxed for all sounds. The wrong way is to tense your lips and tongue and jaw too much, and hold this tension too long. This forceful speech leads to stuttering. After you stretch and emphasize vowels, you must next de-emphasize consonants.