Car stalls when placed in drive or reverse. Will stay on in neutral or park

My 2004 Mercedes clk 320 starts up fine and will remain on when I'm in park or in neutral. When I place the vehicle in either drive or reverse the vehicle either lunges forward or backwards (depending on the gear I'm in) when I have the brake pressed down. The car will eventually stall. I am able to turn on the car and repeat the process. I was able to place the car in drive (quickly) and drive it homebut the minute I press the brake and am about to come to a stop the car stalls. Please help

The car is not showing a code when the check engine light comes on other than the brake lamp is out.