I am new to the forum and this is my first post...I will appreciate any help.

I own a 2001 Audi A6 2.8 Quattro and yesterday when I got home I noticed a grinding noise after I shift to P and depressed the brakes. At first I thought that the brake pads were worn and needed replacement.

But I decided to do another test drive and noticed that the brakes don't make any noise when stopping and depressing the pedal at any time. The only time I hear this grinding noise is after I depress the brake pedal after shifting from P to D or P to R...I found a similar thread

https://www.audiforums.com/m_269343/tm.htm

...but I guess the difference is that the grinding noise comes after I depress the brake pedal and not during shifting. The car drives fine and shifts normal. Would the problem be the transmission or the brake pads? or What exactly is causing the grinding noise?

Thanks again for the help...

 

Lightly press on the brakes from 5mph. Do you hear the noise?

 

No, I can only hear the noise (grinding or metal to metal) when I am at a complete stop, shift from P to D or P to R and after I depress the brake pedal.