Welcome
. What year, engine and how many miles?
Based on your post, it is an automatic. When was the tranny fluid changed (mileage and time)? If it is more than 2 years or 24k miles, try changing the ATFluid first.
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for ATFluid 3X drain and refill
If that doesn't help, post a more complete detail of what is actually happening. It may be a bad Manual lever position sensor (or cable) or bad torque converter but you won't really know until you do a real time transmission scan (about $100).
Drive to Autozone or Advance to read the Check Engine Light code(s) and post the exact codes.
