Abstract: A seal between two telescoping members in a slip yoke assembly including a driveshaft section and a slip yoke. A circumferential groove is formed in the outer surface of one of the telescoping members of the slip yoke assembly. The groove defines an annular collar which extends circumferentially about the end of the slip yoke. One or more recesses are formed in the bottom of the groove. Additionally, one or more axially extending slots are formed through the collar. Preferably, the slots are angularly offset from the associated recesses by a predetermined amount. One or more radially inwardly extending protrusions are formed at one end of the seal. To install the seal on the slip yoke, the seal is initially oriented relative to the end of the hollow cylindrical end portion such that the protrusions are axially aligned with the slots. Then, the seal is moved toward the slip yoke until the protrusions engage the outer end surface of the slip yoke axially adjacent the slots.