Vehicle makes jerking motion when comes to a stop

Hi,

I recently got a 2005 Wrangler (V6, 32,000 miles, manual transmission). When I come to a complete stop by applying the brakes, the jeep makes a jerking motion. It only happens when I'm coming to a complete stop. Otherwise the vehicle runs fine.

I watched the tachometer when this happens and it doesn't seem to rev or anything.

Thanks in advance.