2003 Honda Odyssey Car will not go into drive after being s

My wife's car will not go into drive after being started. It takes a couple of tries and then will finally go into drive. She does press on the brake in order for it to do into drive, I do not that. I also know that I am getting ready to have her brake pads replaced. I heard the little sensor pin on the brakes when I pulled her car in the garage the other day. If I have the brake pads replaced will this solve the car not going into drive correctly? Thank you for your help with this question. I hope that I have explained all the information correctly in order to maybe diagnose the problem.