Leave a car on a flat road, shift the gear to D, forward gear engaged and the car will move forward. A car has 4 wheels, whenever being placed uphill or downhill, depends on the moving direction, it will move faster or slower. A car carries weight and has an engine. On the other hand, if we put our hand on a table, our hand does not have wheels, nor engine. So I disagree there is no friction. The friction applied by the brake pads offset the force vehicle moving forward, therefore it is not moving, under D gear.