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There is a switch on the N/s of the gearbox it has four wires to it, two are for the reverse light the other two are the inhibitor switch, straight forward change, screw the old out and screw the new one in. Very little fluid loss and it does not need setting up.
This code indicates there is a problem with your PNP (Park Neutral Position) switch On American built cars it's called the Neutral safety switch.
It may have been a "one time" take it to AutoZone and have them reset the error. If it doesn't come back don't worry about it. If it does at least you know now what to look for
Is there any warning lights or malfunction besides this?? There are three main parts that may cause this: Park/Neutral safety switch(located on the transmission), Brake pedal switch(located at the brake pedal), Shift lock solenoid(located below the shifter). P/N safety switch prevents the shifter from shifting out of (P) or shifting into (R/P) while vehicle is in motion. Brake pedal switch sends a signal to release the shifter lock to shift out of park. Shift lock, locks the shifter as describe above and is located at the shifter base. I recommend inspection/replacement of the shift lock solenoid and P/N safety switch as its an intermitted problem. Hopefully this helps