99 camry v6 starting problems

I have a 99 camry V6. I'm having a problem starting my car. I know it's not the battery because the radio and lights come on. It has to do with the starter and cylinoid. When I turn the key, it does nothing. There are no clicks, it just does nothing. I wait a few minutes and try a couple more times and then it starts. Any ideas?

See the discussion about started contacts in this thread:
http://www.automotiveforums.com/vbulletin/showthread.php?t=166387