Removing the starter on a 2002 Nissan Pathfinder four-wheel-drive

While you have the "BATTERY"
(always the GROUND side first)... disconnected...

Snap a picture of where & how the wires are routed
to the starter solenoid...

The fact that the STARTER is spinning.. is a SOLENOID issue...
but your FAILURE TO INDICATE
that was TURNING OVER THE ENGINE also indicates
a FATAL issue with the starter

As you can see from the AMAZON pictures these are gear-reduction COMBINED units...

My best advise is to cross check your cost w/rock-auto...
and get a decent rebuilt..

This time DON'T RECONNECT THOSE WIRES until you
have a new/rebuilt starter there...

Good luck.
http://www.rockauto.com/en/catalog/nissan,2002,pathfinder,3.5l+v6,1431960,electrical,starter+motor,4152

How To put a Nissan Into 4 Wheel Drive - YouTube

? 2:09
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10 Most Common Transmission Problems

Good probability is the front u joint needs to be replaced,

1. Drive the front wheels up on ramps. Set the parking brake, block the rear wheels.
2. Disconnect the battery ground (negative) cable.
3. Get under the car, behind the right front wheel. Look up, the starter should be on the side of the engine where it meets the transmission. It is a cylinder about four to six inches in diameter and about a foot long, with one or more wires attached to it.
4. Remove the wire(s). One is a big cable, like a battery cable, bolted to a stud on the side of the starter.
5. Remove the bolts that connect to the starter to the transmission (bellhousing), at the back of the starter. Sometimes there is another bolt near the front. Careful, it is really heavy. Gently lower the starter down and remove it from under the car.
6. Reverse the above steps to install the new starter.

Do you have it in neutral? Transmission has to be in neutral to shift into and out of 4 low.

normally if you deselect four wheel drive and reverse your truck back a few yards it dis engages

ipresume your talking about a manual gearbox
and you have a seperate lever for four high and four low possibly 2 wheel drive on it as well trouble has to be in smalllever linkage and not engaging properly to solve it move the lever around different positions see do u get drive

Look under the car for the 4wd tranfer box there is a electrical plug there unplug and clean if that doent work bring to nissan they drain transmissonf fluid and install new sensor it because water got in at prop shaft seal.

It's underneath on the passenger side.

I'm pretty sure the last time I did this, I went through the right front wheel well after removing the tire. You may have to remove a clamp or two that hold some some steel hydraulic lines, just bend them a little out of the way and you will have access.