grinding sound when putting in park from drive

[kia guy]

has anyone else had this problem and has diagnosed it correctly?
2008 Kia Sorento 111k 2wd . grinding sound when placing gear into park from drive. I shut it down and restarted the car and seems fine until it does it again. not the starter..

 

[G-601762]

Is it auto and if so do you keep your foot on the brake pedal when putting into park.