2005 Other Mitsubishi Models Problem when engaging gear for

Transmission problem
2005 Other Mitsubishi Models Two Wheel Drive Manual 22000 miles

I have always problem when I try to engage the reverse gear for the first time. Some time it is not engging al all. I always give few secounds delay after depresssing the clutch. When I engage the gear, it creates a harse sound which feels that it is creating severe friction with something which is not really good. Please advise. Once the car is running in different gear then there is no problem.