Change gearbox.
I'm guessing the vehicle is an automatic? If so it sounds like a transmission problem. Obviously, check your fluids first. Transmission, oil, etc.
I'd suggesting calling your local VW dealer and explain your problem. Ask to speak with a maintenance tech. I'd say it is something in the transmission if it's an automatic or a stock shift.
Problem could be in the linkage in the transmission or a variety of other places.
Fluid check is a good first place to start. Beyond that tow it in to dealer or a good mechanic you can trust.
Obviously, don't try to force into gear as it will just worsen your dilemma.
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