You need to establish if the fault is in the switching circuit or power supply. Does it happen every start? Get someone to operate the key while you check for power on the solenoid switch terminal. If it holds power on this terminal, the fault will be external. Keep in mind, if starter continues to crank, you will get a back feed out the switch terminal. I tend to disconnect the wire, and use a small jump wire between the terminal and wire. When the fault occurs, remove jump wire, if it still cranks, it's not key switch, relay, etc. One of the biggest causes of starters staying engaged is low battery voltage- the contacts stick together due to the low voltage. As Free Spirit says, the pinion may be sticking out on the shaft, but that is a mechanical fault, not electrical, so while the pinion may jam in mesh, disconnecting the battery shouldn't be necessary, as the solenoid would still be releasing the contacts. The internal plunger spring will allow the contacts to disengage, even if the pinion is stuck out. A starter of that age shouldn't be sticking, unless you have a really bad clutch, or water/ dust etc. is getting up in the bell housing. Do you take you van off road, eg building sites.