1999 Chevrolet Tahoe M Familiar Mechanical Terminology Will Try Explain

I'm not to familiar with mechanical terminology but will try to explain my problem. My1999 two-wheel drive Chevy Tahoe will not shift out of PARK. I have to keep moving handle up and down, turn wheels, press brakes and eventually it will shift out of PARK. The only time this works is in the morning. Once I drive it, I cannot put in park because I will not be able to get out of PARK.
Any ideas what it could be and what would the cost be to fix??