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Your clutch is not fully disengaging. There are numerous scenarios that could be happening here, although almost all of them mean that they're going to have to drop the transmission and inspect the clutch.
If you're extremely lucky, you might just be low on fluid in the clutch hydraulics. You'd still need to find out WHY though. Have you tried pumping the clutch pedal before putting the car in gear?
Try that, put the car in gear, then don't release the clutch pedal immediately. Hold it down and if the car starts moving forward after a while, you might just have a bad clutch master cylinder/slave cylinder. That's not too bad.
Anyhow, I bet the dealer will do some basic diagnostics like that, then tell you, "hey, I have to pull the clutch." At that point, you might as well buy a new one even if they don't find a problem with the clutch--it's the labor that costs you all the money, so if they've already got the tranny down, you might as well replace stuff.
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