When the car is in park or any other gear (car is stationary, car is not moving) their is a rattling noise that comes from somewhere near the pedals, when I slightly depress the gas pedal the noise goes away, how can I stop the noise all together.

 

Crawl under there and touch different things near where the rattle is coming from to see if you can find what it is that's rattling. Could be lots of things. If you can find it, figure out what needs to be done to stop it. There might be a screw loose or missing, or something is touching something that it shouldn't. Something as simple as tightening a screw or wrapping something with tape may be enough to cure the problem.

 

it was actually something under the hood, the throttle cable wasn't clamped in properly, and it would vibrate against a plastic piece, causing the noise. It is all fixed now, thanks for the help.