On my 99 Audi a4 I have this annoying beep that goes on for like a minute then stops. When I turn my lights on its a constant beep for like a minute then goes off. How do I get rid of that annoying beep?

 

Any dash indicators? It could be a lot of things; some sort of seatbelt sensor not functioning, headlight switch sending a false signal, etc. When I have a door open with the headlights on, it won't stop making noise telling me that I'm trying to exit the vehicle and forgot to turn off my headlights. More information needed to determine the flawed logic your car is following.