Often it's the alternator. When the engine is first started the regulator may be forcing the alternator to work a little harder so that the battery can be charged quickly. The extra power necessary to turn the alternator during that time can cause the belt to slip and squeal. 96 GM vehicles use a tensioner to maintain proper tension on the serpentine belt so unless the tensioner spring is weakened, you may need to replace the belt.
Your question is vague, but since you used the words "squealing/grinding" I first start to look at the brakes. The squealing could be coming from your brake pads. Some brake pads come with a safety mechanism that alerts to when the brake pads are nearing replacement time. If you ignore that squealing then it turns to a grinding because there ain't no brake pad left. At this point, you're now looking at replacing the rotors as well as the pads. Rule of thumb is that if one side is bad then the other is just as bad or not far behind it.
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