2004 Honda EX Steering (30,000K)

I recently bought a 2004 Honda EX with 30,000 miles on it. My question is this: When I first start the car and I turn the wheel it is loose at first, then it gets tight for about 2 seconds and i hear a soft groan and then it is back to normal. Is this just a normal Honda thing or is it an early warning to something like rack and pinion problems? Keep in mind I'm turning the wheel only slightly, not cranking it all the way to one side or another.

_Dan