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not sure what truck you have. if you selected the 4x4 with a lever or button. the button has a switch that controls a motor to change the transfer to lock up. if it was a lever and didn't work then something could be out of alignment. but my 2000 chevy it needs to be in neutral to go into 4x4 low. sometimes even for 4x4 high. if your in a gear that might be why it wont. or something needs to replaced, motor maybe
If you have a CJ or Cherokee, when you move the 4x4 lever, it engages the transfer case which then transmits power to the front as well as the rear wheels. For most (99%) of all four wheel use, you use the front position on the shifter one notch behind the two wheel drive setting. Use 4 low only for pulling vehicles out of mud etc and don't drive in that range. If it sticks in 4wd after disengaging it, usually backing up about twenty feet will help. If you have a Grand Cherokee, the 4x4 usually is a quadratrack unit. That one stays engaged but only goes into 4wd mode when the rear wheels begin to slip. (by itself). Rules for using low are the same. It is very important to run the exact same size and style tires on any 4x4. It is mandatory on quadratrack units. Use of odd sized tires can cause driveline damage. There are variations on different year vehicles but the basics remain the same.
Check the front wheel bearings for play and also while the wheel is off the ground lock the front hubs, grab the axle behind the wheel and see if it is engaged. If not then you will need to take the hub apart and find out what is broken.
I had a similar problem, only it would not engage. I had my mechanic look at it. He said that there is a pin that when a lever is moved the pin engages the 4x4. My pin sheared off. He replaced it and now it works great.