In drive I push down on the gas pedal but the car won't move. It will then jump and drive normally?

Question: as I put my car in drive and push on the gas, my car will make the sound as it should if it were actually moving, but doesn't at all even if I floor it. Then finally it will just jump and start driving normally. I have a 2003 Ford Explorer and yes my engine light is on. Even if I stop at a red light this will happen. Any info is appreciated.

To me it sounds like your torque converter has broken. You do know it will leave you stranded very soon.

Maybe Tranny fluids getting low,
take a quick look, Yellow or red funny dipstick towards the back of the engine and i believe yours is checked running in neutral, brake on of course(its written on the stick too, check that before anything)

Or bring it to a quick lube place and ask for a quick level check, cheap-free.

After that you gotta take her in