I've been noticing a noise coming from under my gearbox that sounds like a "clutch". It started happening when I took my Audi A4 In for a service this past January and I haven't really done anything about it until now because the noise just got louder. I've uploaded a video on what it sounds like and was wondering if anyone knows what the problem is?

Forgot to add that I was In park while stepping on the break to shift into Drive. So every time I press on the break, that noise appears.