When I am in drive with my foot on the break I am hearing a constant rattling sound. If I am in the driver seat it sounds like it is coming from the engine bay close to the passenger side winshield. Attached is a video where I first am in drive so you can hear it, and then I switch to neutral at which time it goes away and then it comes back when I switch into drive again.

Sendvid - Instant video upload

 

Sounds like an exhaust heat shield rattling.

Easy fix:
With the engine cold, get under the car or get the car up on a hoist.
Following the exhaust from the engine, tap it with your knuckles or a screw driver. The loose section will rattle and/or move. Use a stainless steel worm gear clamp and try to clamp the loose section.