1993 Toyota Camry starting up

My 1993 Camry with 142,000 miles has had difficulty starting up the first time it is started during the day (either morning or afternoon - I don't always drive to work). I turn the key and the dashboard lights light up but the engine does not even try to turn over. But if I turn the key and pump the gas, it will fire up. I have not had any problem with the car once it is started and it starts fine the rest of the day after the first start.