The other day when pulling into a parking place my 99 Disco II started vibrating. It only happens when I go to turn real sharp and at a low speed. Or atleast only so far! After the first time it did it the check engine light came on. Since it is my only car I had to drive it again and it did the same thing agian. It only does it when Im slowing down a cutting it sharp to pull into a parking place. However after I pull in it keeps shaking.

Any ideas?

 

Go to a empty parking lot, turn the streering wheel to full lock and drive in a circle, do this both left and right and then report back.