Your transmission is in 'limp in' mode. The control module has determined that there is a problem, and will not allow the transmission to shift - it allows just enough mobility to get it to a repair shop. You can check the fluid level, but if that's OK you'll have to have it diagnosed to determine what the problem is, and how much it's going to cost to fix it. It could be something relatively minor or it could require a rebuild. But continuing to drive it will aggravate the problem, and could require replacement.
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