I was driving and just the car start shaking .and stop did not want to restart, the engine. lite goes on

IF THESE SHAKES ARE HAPPENING ONLY WHEN THE CAR IS AT COLD START THEN U MIGHT HAVE A MINOR VALVE PROBLEM.THE VALVE HEADS DUE TO NO LUBRICATION FROM THE FUEL THEY TEND TO GET DIRTY AND NOT SIT AT THE CYLINDER HEAD AS THEY SHOULD.REMEDY IS FIRST A GOOD TEST DRIVE AND BY GOOD I MEAN REVS OVER 4000 AT LEAST.IF THE PROBLEM PERSISTS UMIGHT HAVE TO DISASSEMBLE THE CYLINDER HEAD AND CLEAN THE VALVES MANUALLY.
UCAN SEE WHAT I MEAN AT THE PHOTOS BELOW

Buy an OBD2 (OBDii) reader and check the engine fault code history.
Wifi, bluetooth, or wired devices are available on ebay.

Could be plug fouling out from leaky fuel injector flooding engine when you shut it down, then clears after running some, however, running hot is not a good sign and could point to head gasket leak. Many other possibilities too, but I would start with examination of spark plugs.

Have you checked the engine computer for trouble codes ?

Open your hood and see if the vacuum hose from your power brakes has come loose,it goes to the intake manifold.

possible broken motor or transmission mount

The cause is too low an idle and engine is starving for fuel so it shakes like that.The thumping sound you hear is most likely just the exhaust being too close to the floor amd bumping against it when in drive with brake on.You said yourself that it stops when you put it in nuetral,well the engine speed goes up when there's no stress on it.With some one holding the brake and it's sitting there thumping,set the idle speed up just enough to make the engine stop rocking that way.

BAD SPARK PLUGS AND WIRES DIRTY FUEL INJECTORS AND STOPPED UP FUEL FILTER OR WEAK FUEL PUMP WILL CAUSE ENGINE TO SURGE.

Fuel pump and filter were changed how long ago, and how many miles ago? Did they change the wrong thing(s)? What engine is in your Cirrus?

Sounds like a bad head gasket