2003 Honda Odyssey Van stalling

When I come to a stop light or a stop sign, and then go to accelerate, sometimes, the van will stall or idle. If I put the van in park then drive it is fine and will go. When I’m pushing the gas while it accelerates the RPM’s do go up. It never stalls while it’s driving. And no codes pop up at the dealership. And lastly, no one seems to know what is causing this. Can anyone help?