Vehicle will not turn over or start, reads a PRNDL error

Tried to bypass and jump the starter, starter will crank but vehicle will not. Tried moving the shifter into neutral, will not turn over, tried moving it into park multiple times, will not turn over, all lights and air and radio work, battery has charge. Not sure what part I need to get, some dealerships say shifter and shifter nob, others say modulator.