Taken from honda-acura.net and various other places:

Q: " A couple months or so ago I started having occasional trouble putting the car into first from a stop. Got worse for a while, then evened out to about every forth or fifth time. If I down shift properly when coming to a stop it rarely happens."

A: "First and reverse dont have syncros. Reverse is a dog cut too which is why it makes lots of noise. You can do the trick with 2nd and first gear that others mentioned, or you can blip the throttle and then goto first. [...] I'd say what your experincing is pretty normall."

Other seems to fix that problem by changing their clutch, but opinions seems to be contradictory on this point...

I'd go with the same suggestion as acurasquirrel_ for the "rubbery" feeling of the clutch: Could be air in fluid system.