Car Judder

[EK77]

Hi Guys

I have an automatic 318Ti

The promblem i have is when I put it into D and put my foot on the brake

The car starts to judder back and forth as the revs go up and down

If I move it onto N or P the revs are ok and there is no car judder

This is an intermittent problem

Has anyone had this problem before

Cheers