Have trouble starting but does start

The car starts every time after its been sitting overnight. Most of the time I will take it out and when I go to start it back up it makes a weird grinding/groaning sound that almost shook the car a little. I can give it a little gas and it will start, other times I can just wait a minute or two and it will start as well, but I am afraid it is going to leave me stranded soon. I can hear the fuel pump when I turn the key. I do not have any check engine light or anything. Thank you so much for your time I realize it must be difficult to read all of these messages since you cannot actually hear the car.