As per others, the first thing to try is resetting the ECM. You can pull a battery cable and press on the brake pedal or there is a procedure that doesn't require disconnecting the battery. If that doesn't fix the problem, I'd next look at the shifter position switch assembly (don't remember what the official name is - it sits at base of shifter).
The FSM (link in sig) has some great troubleshooting info.
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