2003 Renault Clio Gearbox problem

HI,
I have a Renault Clio 16v expression semi 5 gear shift automatic 3 door (FM03GPU) and I have started to have problems with the gearbox. When I start to drive and stop for the first time the automatic mode slips into neutral and when I want to move off I have to manually shift into 1st gear and then press the button on the side of the stick to put it back into automatic mode, also a sign shows up ( I think its called a kangaroo sign) this happens every time I stop for about a mile then stops and the sign disappears and the car returns to normal. Also a warning light has shown up on the right side of my dash.

Thanks