Hi Pam,
It all depends on what has happened here. It is possible that the shift cable is disconnected at the lever on the transmission. However, these things do not usually just come off for no reason. If it is off, I would really be trying to find out why. It could be that the cable end is worn out or broken.
Anyway, if it is the cable that has come loose, you can get to it in the engine compartment on the driver's side. You will probably have to remove the air filter box to get to it, but it won't be necessary to get under the car. It is kind-of under the brake booster assembly. (not real easy to get to) See Picture.
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