Honda Pilot 2005 Brake problem

I have been having issues with my brake system, I think.  My brakes work
perfect when driving.  My problem is when my car is in park.  I hop in car,
start the car, and press on brake to put in drive and start moving forward.  
The car won't move.  I have to put the car back in park, push hard on brakes,
and put back in drive to get something to release so the car will move
forward.  Sometimes I have to repeat this several times before whatever it is
releases and I can drive the car.  I have replaced the brake switch and the
driver side front brake hose which was bled and brake fluid replaced.  My
brake fluid never gets low or needs to be topped off so I assume it's not the
brake master cylinder.  Also, my brake pads, rotors are good.  My calipers
seem to be in working order bc if one was stuck it usually doesn't become
unstuck.  Any help or advice would be appreciated.