Transmission Problem

Hello,

I have AUDI A4, 1996, 2.8, Quattro.
It is not possible to start with position D - clutch does not get engaged so the car does not move. However, I can start with second gear (pos.2).
Once the car starts to move, I can shift to D and drive as normal.
If the car stops, I have to start with second gear again.

Would do appreciate any idea and suggestions.

Is it an automatic? With an automatic, you should only be able to start the car in "P" or "N"

I mean not to start the engine (of cause only P or N), but but to engage the clutch and start moving