brakes dont hold when first put into gear from cold

So I go to leave for work and everything goes as normal until I put the car in gear and it rolls on while my foot is on the brake. So i bump into the house. It happens until i pump the brakes. After that the brakes work just fine. This is not the first time. My husband comes out and the brakes work fine. Until Sunday morning we are leaving for church and it happens to him. I was so glad. So he checks everything has me pump the brakes while he bleeds them, but they feel the same. What do we do?