The correct procedure should be described in detail in your owner/operation manual.
For a 2004, 90 % sure that if it's a quadra trac you have to immobilize the vehicule, put your transmission shifter to neutral keeping foot on the brake obviously, engage the low on transfer case pulling the transfer case shifter, engage the transmission to drive
If it's a select track, normally you have to keep the vehicule moving very slowly (2 mph), move the transmission shifter to neutral, push the transfer case shifter to the right and pull it firmly. Once transfer case engaged, put back the transmission shifter to drive.
It could take few seconds to engage and disengage depending on the temperature and road condition. Do not try it on dry surface (preferable on mud, snow and wet surface). Drive at low speed because you will feel that it's very low geared.
By the way, follow the reverse process to reestablish normal mode
Hope it will help
Dan
SOURCE: How to shift a 1998 jeep grand cherokee into 4 wheel drive
Four low is almost never used. I use it on very steep rocky or muddy trails in the woods or to pull someone out of mud or a ditch. Though some will shift standing still it is best do do this while rolling. Four high can be shifted at low speeds of 2 to about 35mph (higher also but not really good idea) Low can only be shifted between 2 to 10mph. If you find yourself stuck and unable to shift because you aren't rolling you can also turn the engine off, engage the transfer case and re-start. That avoids having the gears clashing together. Best rule is if it begins to grind, don't force it.
i you had the NV231 box, all gears are Part time, all 4wd gears stay off dry pavement.
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