Mike,
I get this occasionally - especially if I'm attempting to 'shunt' into a parking space, and change from drive to reverse a bit quick.............it then makes parking a right PITA, as the auto box defaults to 3rd, and the changes get really fierce. An engineering reboot cures it (engine off/on ;))........it just looks like you stalled it though !!!
My Disco has done 117000 miles, the gearbox oil and filter has been changed at the prescribed times, I'm guessing that it's just getting a bit worn somewhere :roll:
Jim