Remove the brake rotor and have it checked at a reputable auto parts retailer.
Rotors often warp with age, especially if they have been overheated.
Disk brake rotor is warped
Car shakes when I put the brake check
If the car shakes when you press on the brakes, you probably have warpped brake rotors, and the squeak is probably some worn out front brake pads. I would have your rotors checked and either replaced (which Mercedes highly recommends or re-surfaced)
If a car shakes during acceleration the brake rotors may be damaged. If the rotors are damaged they will be unstable as the tires rotates making the whole car shake.
If you mean when you are coming to a stop, and press on the brakes, you feel a vibration- this most likely means that your brake rotors are warped and need to be turned. If you mean you are already at a full stop, in idle, and you press the brake and feel a vibration- it may mean a vacuum problem in the engine or something like that. So it depends- is it your brakes vibrating, you feel it in the pedal? Or is it your engine suddenly running rough and the whole front end of the car shakes?
Your power brake booster is shot.
Sounds like your power brake booster diaphragm is busted or there is a leak in the vacuum line going to the brake booster.
brake caliper is sticking due to faulty caliper or rubber brake hose.
my first thought is the brake pads are warn out. pull the front wheels check the pads and rotors. your question was car stoped foot on brake in drive, CAR SHAKES i would say that the car is missfireing, bad plug ? bad wire? bad coil pack? or mabey a BURNT VALVE? Good luck I just had that problem and I replaced the master brake cilinder and it stop shaking. try that. it shakes because of the anti lock brake system.
When you press the accelerator and brake together in a motor car, the engine will rev, but the brake will stop it from moving. Doing this repeatedly can cause the vehicle damage.
When you brake it does not take your car out of gear.
A faulty power brake vacuum booster could do that.