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check for a small vacuum leak speciallythe lines going to the throtle have someone look at it while you seat onthe car , idle ,FOOT ON THE BRAKE ! a way to test for leaks if to spray a lil wd40 around the lines an listen if the idle gets better or worst, sometimes the reason the engine runs to rough or lean are vacumm lines that are slightly broken.
Usually a rough idle on a Honda is a result of the idle speed being too low. What is your RPM suring idle now. Try to increase it using the screw on the idle air control by only a quarter turn at a time. Hope this helps.
your probably feeling a rough idle of the engine. need a tune up?
in park the engine is not loaded down, just idling at a low rpm=rough
in drive with brake on you have put some load on motor also at low rpm=rough
in drive on the road engine is at higher rpm, = smoother
generally 4 cylinder motors idle a bit rough, especially if one spark plug is not firing right or fouled or one bad spark plug wire. tune up may fix it. if it is not stumbling real bad or stalling then you can live with it.