Truck problem??

I just got my truck last week, a 2007 Columbia with a 10 speed. It has almost 700k miles on it but seems to run good. However, I occasionally experience a problem where, at a dead stop, the truck will not go into gear. Doesn't matter which gear I try, with the clutch to the floor, it seems the rpms are just too high. Doesn't matter how much a fiddle with the clutch or the accelerator, the truck just will not go into gear. The only work around I found is to shut the truck off and start it up again. Things seem to slow down and away I go, but it takes awhile and leaves some upset drivers behind me. Is this a problem I should point out to the shop or am I doing something wrong?

Thanks

 

Yes, it does lunge on occasion. I figured it was just due to my noob shifting though.

 

Gears 1-5 grind badly. I know I am new at this, and not overly experienced, but I am finding it nearly impossible to not grind 1-5. 6-10 doesn't grind at all. Never had this problem during school. When I was with my trainer, his truck was an automatic, so I figured I was just rusty. Maybe I should the shop a call.

 

Thanks, Bender. I do have the most trouble getting the truck into 1st, 2nd and reverse. I will give the shop a call in the morning. Thanks again.