Squeaking Sound underneath 2008 Toyota Yaris Sedan Automatic

[SDYarisGuy]

Hi all,
I bought a Toyota Certified 2008 Yaris Sedan about 3 weeks ago from a Toyota dealership.
The car is great, but since last week, i have noticed a chipping/squeaking sound (last no longer than 1 second). This chipping/squeaking sound is like metal can got caught underneadth the car and being dragged.

This is my first car ever and I do not know great detail about cars in general, so please bare with me if I am not being technical as I could.

Below is what I observe and how the noise can be reproduced:
1. Noise occurs only WHEN I am on Drive, shifted from either Park or Reverse
a. From P->R->D
b. From P->D
2. Noise occurs when the car is crawling, i.e. after shifting from R or P mentioned above. I don't need to apply the break or hit the gas to reproduce the noise.
3. Noise only occurs in the operations mentioned in 1a and 1b, and it only occurs once, after I am actually on the road, there is no noise ever when I am on D shift. There is no noise when I am crawling waiting for light to turn green, etc.
4. It doesn't matter if i have my wheels straight or not when doing 1a or 1b, noise is there.
5. the noise is coming from underneath but not right below me, I feel it is in the front area.

I am not sure what is causing this, does this have to do with break? I didn't need to hit break to produce the noise though. and secondly, this is a certified car by certified toyota dealer, if the break is worn out, they should have replaced that.

Anyway, please help me, and let me know if you need more information...

Thanks,