Sorry to labour the point, but according to Skoda (whose brochure is far more informative than VW's), the Citigo gearbox is fully synchronised and that includes 1st gear - precisely so that you don't have to stop completely before engaging first gear. OK, so perhaps it was the 1980's before it became universal, but I remember British Leyland making a big thing about the introduction of gearboxes with synchro on 1st gear.
Going back to the original query, unless there is a serious fault, it's likely to something that just happens sometimes like Markmod1 suggested - I seem to remember it happening occasionally with every front wheel drive car I've had, regardless of make/model.