2004 330 Transmission won't engage

I accidently posted this in the wrong 330 forum.

Thanks in advance for any helpful advice here.

I have a 2004 330 with 116,000 miles. The car runs fine. When I start the car in the morning, the car will go into reverse (automatic transmission), but when I put it into drive, it doesn't want to engage. It will take about 10-15 seconds before it engages. If I let the car warm up, it will normally engage at the get go or in 2-3 seconds. I live in south texas so it's not very cold here...

2004 330 Transmission won't engage