Squealing type noise on start up?

[Dave8819]

Hi guys just looking to see if anyone has come across this problem before? When I start the car up after its been sitting for a period eg over night or all day I get a nosie from what I suspect the power steering pump as I can feel the steering go as if I'm fighting it goes away after driving a couple of yards and doesn't reappear. It's not so jucg a squeal it's more like a whine from the pump. I haven't checked the power steering fluid yet to see if its low? I'm new to audi so im unsure of the power steering set up if it's driven by belt or not. 

Thanks in advance guys

[Magnet]

Worth inspecting the belt, and it’s tension, as well as the belt tensioner.

Could be typical of a slack belt. 
Kind regards,

Gareth. 
p.s. Assuming P.S. is hydraulic.