If I understand the question correctly, \tableofcontents[currentsection] (Beamer User Guide, section 10.5) is critical here. The first two frames are shown below, the remaining two frames aren't really relevant.

\documentclass{beamer}
\usetheme{Warsaw}
\setbeamercovered{transparent}
\begin{document}
\section{Motivation} % may be removed, not sure if you really need a section for this or not.
\begin{frame}[plain] % could make it a normal frame, too.
Here's a motivation slide
\end{frame}
\section{Main Contents}
\begin{frame}{Outline}
\tableofcontents[currentsection]
\end{frame}
\subsection{A Subsection}
\begin{frame}
Something for the subsection
\end{frame}
\subsection{Another Subsection}
\begin{frame}
Something for the next subsection
\end{frame}
\end{document}