My 2000 350 makes a groaning sound when i press on the brakes or turn the steering what what is it?

 

in damp weather,letting off the brake pedal from a stop,in gear,can cause the groaning sound.It's normal 'chatter' caused by the dampnes,which will go away after a few stops to warm up tyhe pads/rotor.
Power steering,at a stop,orvery low speed (parking etc) is pretty normal.Make sure youp/s fluid level is normal.Gary