smoke problem when i put my car on park mode for 15min to 20min. and go on drive mode, the car emits white smoke.

Hey Scotty i bought this SUZUKI APV 2005 model last December , the car was running good, shifting good. my concern is when i put the car on a park mode for about 15min. to 20min. and i go drive mode or revers, my car is emitting white smoke for a about some seconds. and returning to normal. hope to find a good conclusion from you. thanks