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Its not a simple fix, it will involve some disassembly of the motor unit, especially if the mechanism would not change from neutral to drive. One of the vac experts at vacuumland.org, a collector and enthusiast website, may be able to provide detailed instructions with pictures.
I dismantled the cover, withdrew the gear drive assembly and found the bits that had come loose. The mechanism that selects neutral or drive had come away from its shaft. I simply put it all back together and tightened everything back up. Works a dream again.
Find an authorized Kirby Dealer in your area and have the part professionally installed. Very complex. Many parts and screws. If no Kirby store, find a Vac store you trust. Or go here http://reviews.ebay.com/REPLACING-OR-REPAIRING-KIRBY-VACUUM-NEUTRAL-DRIVE-PEDAL_W0QQugidZ10000000011180003
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