As William indicated, they start off in second gear for the most part. I've found that from a stop, if you need or want the fastest acceleration possible, select L and once you have started to accelerate shift to D and you will go through all four gears. The L position, according to the owners manual, starts the trans in first and will shift to 2nd only. This is for pulling a trailer. The S position is for slopes/grades and limits the trans to 2nd and 3rd gear only, i.e. start in 2nd from a stop and up-shift to 3rd only.

You can try this until you get all the rest of it adjusted and tweeked. Good luck!