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roll down the window track if you can.(don't jamb or put too much pressure on the window glass)Take off the door panel, gently slide the window back up & set it into the track if its not bent. If its not bent get window glue ( explain at an auto pts store) apply it on the track & let it set for however long it says. lube the sides of the window & try it a few times GENTLY. Or the glass will snap like a pretzel. If the track is bent, you need to R/R the "window transmission" Sometimes can be found used, If not, Dealer part $ GOOD LUCK
audi dealer is going to hit you in the head with sledgehammer regular garage 125 belt new, 285 pump new- or 60 rebuild labour 60 per hour time 5 hours this is average price some charge a bit more some less.