Forward push while stopping Jaguar S-Type 2005 model.

This is sometimes called the lurch, disconnect the battery for 30 mins to re-set the "memory" in the gearbox, this should solve your problem, the gearbox will re-learn your driving style. Make sure you have your radio code before you disconnect.

Its known as the ''lurch'' its one of the biggest problems with the jaguar 6 spd box. The only cure (and its not always succesful) is to have the gearbox programe reinstalled/updated with the last ''fix'' released by jaguar on their WDS system. Along with this fault you may also experience the ''roll out bang'' this is where you slowdown at a junction so you are just rolling then you apply the throttle and the engine revs up and the gearbox suddenly engages - it feels like some one has tail-ended you ! Again some success with this fault has been found by installing the update, although the jag dealers always try to tell you there is a probable fault with the box!
Try to get your dealer to update it for free. THEY KNOW ALL ABOUT IT !
Also search ''the lurch'' on the web and see the history involved with this problem from owners all over !