Its probably the actual transmission itself. It happened to my moms 99 Kia sephia and then it just started working for a few months than the tranny just stopped working all together so I would suggest getting it checked out
If you have an automatic transmission, it probably has a forward clutch/band problem.
bad transmission
You are probably low on transmission fluids
1) Is it a standard transmission or automatic engine? 2) Front wheel drive or rear wheel drive? If it is a standard transmission, you wont have a dip stick. if it is an automatic front wheel drive, it'll be on driver's side front.
There could be several things wrong with the 2006 Taurus. The car may need transmission fluid or even a new transmission.
If the automatic transmission on a 2002 Kia Rio won't go into park and there is no reverse, there is a problem inside the transmission with the gear bands. Each gear has a separate band and sometimes they wear out. New bands need to be put in or a new transmission needs to be installed.
The transmission is messed up, try playing between neutral/reverse and drive, my old Hyundai excel did that and the transmission did a weird sound then went back OK, but not for long. Recommended to change it.
For the Reverse problem, you could have low transmission fluid, or a bad transmission. For starting in drive, just about every modern car will not start when the transmission is in gear. They will only start in Park or Neutral. This is a safety feature to prevent the car from taking off into someone or something when started.
check your transmission fluid level. If it's low, then reverse goes out first. If that doesn't do it, you may need to take it to a transmission shop..
A car that won't move when in reverse could indicate a problem with the transmission. It could also indicate a problem in the gear selector.
it will drive but when in reverse it wont move
How to check transmission and discover possible transmission problem when buying a used car.http://www.samarins.com/check/transmission.html