To caveat, since a lot of folks are talking about *automatic* transmissions, a manual with a fair amount of torque will idle forward in first gear as well.
If the engine is engaged and putting power to the drive shaft(s), the idling still puts some power out which can slowly roll the car forward if it’s not braked, or the clutch isn’t in.
Think of it like skydiving if you skydive without a parachute you’re gonna go really fast and then you hit the ground and you stop and newtons laws say that objects in motion stays in motion you know unless something else messes with that ground messes with it but your body tries to stay in motion so it just splats but with a parachute you slowly go down where you can safely land
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