As an aside, leaving the auto in D while stopped with either the foot brake or hand brake applied makes no difference (or very negligible) difference to the box. Why? From the fluid perspective, it looks no different that if the engine is under normal load (i.e. driving). As such leaving it in D and applying the brakes is generally preferred (lazy drivers). Now, moving it to N (which also makes negligible difference to the power train) takes the force off the braking systems BUT the braking systems are supposed to be able to handle this and the wear is also negligible. For laziness, some drivers prefer to move to N. In reality the hand-brake is supposed to be able to hold the load of the engine in D with no throttle.
Now, on to the OPs situation, ***uming you are not idle hunting (as you mentioned the car is warm), this is probably a situation whereby the fluid in the auto is not being chucked around the converter in an even fashion.As such you get this notchiness or uneven drive with the load of the car versus the available drive power. Hence the rocking. I would imagine applying throttle and the car pulls normally?
So what to do? Not really a big issue, the usual ATF fluid and filter change will help, but unless you are having other problems (seized caliper, vibrations, engine issues), I wouldn't sweat it.