Need transmission advice....94..E320

[bru023]

Car has 140,000 miles I don't believe but the fluid was ever changed. Just the other day I was trying to start in first gear and it wouldn't go nowhere I felt like like the clutch was slipping. The car revs high but moved barely nowhere until 2nd gear kicked in, it happened almost all day then I let the car sit and it happened once on the way home but now for 2 days the issue has not returned do you think changing the fluid and transmission filter would be the way to go. Thank you for any help

I have also noticed a slight kick when when shifting into second gear not too major