It sounds as if the clutch is not releasing properly if you have difficulty shifting into reverse without grinding. Also remember that the vehicle cannot be moving at all: (dead stop) when attempting to engage reverse because there is no transmission synchronizers for reverse.
Make sure that the clutch pedal is depressed all the way before attempting to engage reverse; also, before attempting to engage reverse gear, momentarily shift to first gear, then without releasing the clutch, immediately move shifter to reverse. If it still grinds, you have a clutch release problem.
Shifting to first gear prior to reverse takes advantage of the synchronization mechanism in the transmission that assists all forward gear ranges to eliminate grinding during gear changes.
Papasonic