2005 Honda Odyssey quick metal grinding sound appears and then goes away

I'm getting a grinding sound when I first start the car in drive and reach ~15 mph. Here's the sequence of events:

Put car in reverse and pull car uphill out of driveway.
Put car in drive. Start to move forward.
When mph reaches ~15mph, a quick metal grinding sound appears and then goes away.


The sound is only there for a split second. It doesn't appear any other time except the car first is put in drive. It's almost like it's only at the first shift into 2nd gear after being parked or in reverse.

Weely