Yesterday my engine light went on. I noticed when I put the D on gear while the vehicle stop and it starts trembling.

Probably not. The Denso iridium spark plugs are good for well over 100,000 miles, and on a 2000 I can see that would not be unreasonable. But after 6 months, that I don't see how it would suddenly cause a vibration, or 'trembling'.... If the plugs are over 100,000 miles, you do need to go that next step and replace the rear ones, I fully understand they are difficult. But use only Denso iridium. Meantime get an OBDII scan to find out why the CEL is on, and eliminate a ton of guesswork.

Check you Air filter next step clean you mass air fliw sensor and change the rear spark plugs asap.,

When you scanned the check engine light what code did you get.?