Engage

When I start up in the morning or afternoon drive the vehicle drives perfectly no problems at all. As soon as I stop and turn off the vehicle the next time I turn on and put it into gear I have a hard time engaging. I move the shifter to lower gears and I will engage and go real slow or engage regularly. On a close real slow I rev up the engine still goes slow and then will finally kick in to regular gear. And then it will drive normal. I could drive it a hundred miles in the city and it will shift normal. I checked the fluid and it is full. No check engine light comes on at all. Anyone have any ideas?