I have this problem once in a great while, but today it was worse. I passed a truck and then came to a stop sign, when I went to pull out the engine shut off. I was able to restart the engine but if I would put it in drive it would stall again. I waited 5 mins. and it started and I was able to finish my drive. Any ideas? I was thinking something like water in the lines but not sure how that would be.

If your rodeo is a 1998+ w/ the 3.2L engine, this sounds like a bad intake manifold gasket. Bad IMG's can cause stalling at idle & when stopping.
Joel