Hello there. I recently purchased my first car, a used 2001 Toyota Echo

. It had a little less than 100,000 km on it and it was from a Honda dealership. I assume they changed the oil, but to be honest I cannot say. Anyways, while I love the thing and have had no major problems, there has been this issue that I want some advice on before I bring it into a mechanic and get screwed over since I've never been too much of a car junkie.
Basically after turning on the vehicle and letting it warm up and shifting it into reverse, I hear this rapid hammering sound coming from the engine. It isn't too loud, but is noticeable. After backing out and shifting to drive (automatic), it stops until I come to a red light, where it will start up again. If I shift into park while I wait for the light to change, it seems to neutralize the sound. After driving for a bit and coming up to another stop light, the sound will stop and everything seems normal, though the cabin will seem to vibrate slightly (not sure if this is normal, but felt I should mention this). When I reach my destination and shift into park, the sound will come back as I shift.
When I purchased it, they suggested changing the oil every 5000 km, and so far I've put about half of that on it. Do you think it simply needs an oil change, or is it something more serious (or if not looked at, could lead to something more serious...)
PS: If anyone knows a good place in the Toronto area to get my car serviced, please let me know