Note: Recurring donations require an Acorn, Plus, or Professional subscription.
Since recurring donations are billed to a credit card, the donation cannot be "registered" (or started) without a vaulted card.
If donations are being placed on a public form (Give page, Online Ticket Sales, Online Auction), registration will happen automatically when the payment transaction is submitted. Regardless of the payment options set up, online carts that contain a recurring donation will be limited to a credit card payment.
Internal Orders (Gala carts, Internal Ticket Sales, Internal Orders) have access to the full menu of payment options and will provide a "Register Recurring Donation" button for vaulting a credit card if needed.