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First . take off your panel that covers the fuse panel by your knees. put your head up under the dash and look for the shift linkage. some times the screws that hold the plate on where the linkage attaches break off. second things that go bad are the two plasic bushing that the shifter rod is held down by get worn out. Everything you need is a dealer only Item. If you get into and need help. Call me at 570-878-5222 Its a real easy fix if you know what your doing. The only tools you will need are....#30 torx socket, straight pick, phillips screwdriver, small prybar or a large flat screwdriver.
Sounds like the abs system has failed and the brakes are applied. The abs system applies pressure to the wheels when needed to prevent wheel spin. If the equalizer valve sticks or the system is not able to release the brakes will lock on. I would start with a scan for trouble codes.