Car jumps when you put in D or R
 

Hi
I have a Hyunday Accent 2014, When I start driving by setting D or R the car will jump and while driving you can feel that too, but after about half hour driving everything will be OK, even if you stop the car and put it in N and then start to drive by R or D. But in this situation if you turnoff the car and turn it on again the problem exists.
I have brought my car to one of Hyundai Service Agents for about 1 week ago but they cant fix it. Any help will be appreciated.

More info might help, such as:
When first started what is the idle speed when you put it in gear..
What is idle speed after things are warmed up..
When was transmission fluid last changed..
Once rolling, does transmission seem to be shifting properly..