Van jerks sharply when I try to put gear into drive for the first time in the morning

What is your question?

So the van start normall ..warm up then try to put into drive then the van make wired noise then its jerks sharply forward .just for the first time in the morning or if I dont drive for like at least 5 6 hours .please help if u had same problem

What makes this problem better or worse?

It's happening every morning just for the first time I put gear into drive ..then its ok