In kdenlive there is a monitor for the project (time line monitor, if you like) and a monitor for clips. On this last monitor there are 2 buttons [ and ]. So you can define in and out points.
Done this, simply drag and drop from the clip monitor to the timeline.
To have 2 monitor is not essential however: you can use the same monitor for project and clip, depending on what you have clicked (timeline or a clip).