there is no adjustment, looks like your clutch is on its way out
10,000 miles on the car, which has been babied; highly doubt it.
Second gear in, park & front brakes on; let the clutch out slowly and engine RPM decrease and it just abouts stalls.
Which indicates the clutch has life left.
Looks like its a hydraulic clutch, which means no adjustment, may try flushing and new oil.