When u feel resistance shifting frm P to D realease the foot brakes n brakes let it roll a little either back or forth then engage brake padel to shift gear, works most of time. But sometimes still kena ni choice got to force, which i hate it
Gd practice is shift to N then P will prevent that situation most of time. If D straight to P esp on a slopes u will feel resistence, allow the rolling a little, u wun crash. 
For the past week plus, follow your method and work quite well.
1) After reverse parking ( normally ), shift from R back to N while stepping on brake.
2) Let the car settle abit, it may roll abit depending on the flatness of the floor or tarmac.
3) Shift to P from N while still stepping on brake
4) Then engage foot / hand brake before releasing brake
5) Lastly off engine.
Morning or after work start car, can engage to D smoothly.
