I searched threads here and googled, I couldn't find anything 100% similar symptoms.

Symptoms:
1. At full stop, car's idle will start bouncing up and down. Car will keep jumping forward if I let go of the brakes.
Quick fix- Shift to neutral and the idle will regulate back to normal.

2. When car shifts gears, the car will occasionally feel like it jumped a gear (during shifting point, car will make a hard thrust or jerk) and the gear it jumped to will start to make a low rumbling noise.
Quick fix- Switch down to 3 and back to Drive whenever the car gets to the 3rd gear or I would just come to a complete stop and wait in neutral for a minute then back to Drive.

Basically, I believe there is a problem with driving on D drive. I was hoping to ask here and narrow down my problem before I brought it to my mechanic.

Thanks for looking.

 

What year/model? But this sounds like any Honda needing a new or rebuilt transmission...