So, when starting my car, basically this happens:  
https://www.youtube.com/watch?v=KDxLVxW-yAc&feature=youtu.be  
The engine makes a rattle sound, like some parts inside were loose, and the car can't drive. After some seconds, a red power steer lamp comes on and the engine turns off.  
I have earlier had problems with the same sound on start, but then it just helped to turn ignition on and off. Once with the sound my clutch got stuck and had to take it to a mechanic to get it unstuck.

I'd hazard a guess and say the power steering light is likely related to the fact the alternator isn't able to power it because the engine isn't spinning fast enough. (VWAG uses an electric one rather than direct engine driven one).

 

Are the beeps from having the door open?

 

It sounds similar to this;

http://www.vwaudiforum.co.uk/forum/showthread.php/83288-Polo-starting-fault-warning-beeps

 

When you turn the ignition on, listen carefully to determine if the fuel pump is running (a hum from the rear seats area), it should run for 1-2 seconds, to prime the fuel system.

 

From what it sounds like, it fires on what little fuel is in the system, but the fuel pump is not running and so it can't run and just goes to cranking over again.

 

The Fuel Pump should prime when the drivers door is opened after the car has sat a good while, so even before the key is in the ignition and turned.

8 minutes ago, Roottootemblowinootsoot said:

The Fuel Pump should prime when the drivers door is opened after the car has sat a good while, so even before the key is in the ignition and turned.

 

I'll be honest, never heard it, but i always hear it slightly when i turn the ignition on (i have keyless start/stop, i press the button once to turn ignition on and wait till all the lights go off on the dash before pressing again to start it up).

3 hours ago, FabiaGonzales said:

I'd hazard a guess and say the power steering light is likely related to the fact the alternator isn't able to power it because the engine isn't spinning fast enough. (VWAG uses an electric one rather than direct engine driven one).

 

Are the beeps from having the door open?

 

It sounds similar to this;

http://www.vwaudiforum.co.uk/forum/showthread.php/83288-Polo-starting-fault-warning-beeps

 

When you turn the ignition on, listen carefully to determine if the fuel pump is running (a hum from the rear seats area), it should run for 1-2 seconds, to prime the fuel system.

 

From what it sounds like, it fires on what little fuel is in the system, but the fuel pump is not running and so it can't run and just goes to cranking over again.

 

The beeping is from the door yes.

The issue has fixed itself, tried starting the car today and it worked. Really want to figure out the issue though, as it woulndlt be fun of occured when I was far from home. Will try to listen for the pump, but quite sure I have never heard anything from the rear seats.