2001 S60 Rotating gear noise while breaking ?

[nov]

Hi

Over the last few weeks ive started to notice a rotating gear like noise and a weird feeling in the pedal while breaking on my volvo s60 2001 2.4t auto. I have to stop the car put it in park then back into drive to stop the noise , but this happens every day almost after the car sitting over night etc. anyone any suggestions what could be my problem ?

Thanks...