Forgot to mention reverse has some idiosyncracies. It may sometimes not fully engage first time leading to a grinding noise. This is a not uncommon 'feature' of the gearbox, but is not indicative of any serious problem. It may however lead to a loud noise from the passenger seat!
Just put it back into neutral, lift the clutch and try again from the beginning, being a little firmer with the gearstick this time. There is a thread about other remedies on this site.
B-Max Zetec 1.4 Petrol
Mid 2015 build
Pretend Spare Wheel