My 2000 mercury cougar jerking shifting from R to N/D ?

[NateL]

i just noticed that my car was jerking when i shift from R to N or D. It sounds and feels like it is in the rear of the car. I was reading up on transmission problems and read that this seems to happen a lot with cougars. And they all were saying the problem was the transmission range sensor. If anybody reading this has ha this problem or if you have fixed something like this if you could give me as much info on this as possible i would be very thankful. I only have one car in use now and me and my wife NEED this car for work and the kids dr appts. So any info you have will be awesom. Thanks