Transmission will not shift into drive or reverese

We need to start with two things. First check for codes. If we have an issue with a sensor or switch we should have a code to point us in that direction. Here is a guide that will help on how to do this:

https://www.2carpros.com/articles/checking-a-service-engine-soon-or-check-engine-light-on-or-flashing

The next thing we need to do is have the battery load tested because that was a common cause of this issue. Here is a guide to help with that:

https://www.2carpros.com/articles/car-battery-load-test

Let's start with these things and go from there. Hopefully we will have more to go on after we get this info. Thanks