Diane,
It's happened to my Jag S type V8 (2000) twice- resulting in the car being towed to my mechanic.
It's the J-gate shifter-- it's plastic piece that fails when stuck in park (it's not your transmission going out, but that will happen by 60K miles).
Way to avoid getting stuck is to first pull the parking brake before shift from drive into park. And keep the parking brake engaged when you shift from park into drive or reverse (after you have shifted, then release the parking brake). I know it's crazy, but it works! Jag even addresses this in the Owner's Manual.
Beware: the car is a piece of junk- I can't wait to get rid of mine- going on 4 years and nothing but problems, spent over $10K on repairs....
I have an S Type. Avoid parking on any type of incline if possible that is your best solution. Always engage the hand brake before putting the car in park ( I have a BAD habit of not doing this and find myself in this predicament frequently ) You can try to have someone rock the car, its not really good for your transmission. Sometimes the shifter alignment cable moves out of place or the clip attached to it becomes jammed if you have a friend who fixes cars ask them before going to the dealer mine was going to charge me $1800 and I would have had to have it towed another $250. You can also jack up one of the rear tires , this movement of the tire will free up your stuck transmission and you my friend will be good to go. I did this last week and it works!! I hope I have helped you and saved you money as well !!
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