It's hard to say for sure what the problem is, but there are a few things to consider. One, you may have a bad TCU (transmission control unit) - a friend has this issue on an Audi A4. You move the gear selector to put the car in gear, but the TCU isn't responding right and isn't doing what you tell it to do.
Another idea is that your transmission fluid is low or bad, or the filter is clogged. That's a fairly inexpensive and easy thing to take care of, and might not be a bad idea anyhow, seeing as how the car is just under 9 model years old.
A third possibility is that the sensors under the console where the shifter is mounted are bad, and aren't sensing when you move the gear selector. I'm not sure how to diagnose that other than to install new ones (or ones out of a salvaged car), but contact Nissan to see if their OBD2 diagnostics include chassis and powertrain fault scanning - if they do, they should be able to detect a code in the system that will point toward a faulty component.
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