Hexagonal manganites are multiferroic materials with two highly-dissimilar phase transitions: a ferroelectric transition (from P63/mmc to P63cm) at a temperature higher than 1000 K and an antiferromagnetic transition at T N = 65-130 K. Despite its critical relevance to the intriguing ferroelectric domain physics, the details of the ferroelectric transition are not well known to date primarily because of the ultra-high transition temperature. Using high-temperature x-ray diffraction experiments, we show that the ferroelectric transition is a single transition of abrupt order and R-Op displacement is the primary order parameter. This structural transition is then simultaneously accompanied by MnO5 tilting and the subsequent development of electric polarization.