Is the vehicle parked on a hill? Sometimes when parking on a hill, if the park position has been selected before the parking brake is applied the weight of the vehicle resting on the gear box locks it in park. Pull brake on and jack up one of the rear wheels and see if that helps. Also try putting foot on footbrake if vehicle fitted with safety lock.
This happened once to my van. There is a pin inside the transmission that locks the wheels when the shifter is in "Park". That pin had broken off and was bouncing around inside the transmission and eventually jammed it so that the shifter was stuck in "Drive". I had the get my transmission rebuilt. I hope yours is a simpler problem. Perhaps there is a simple problem with the linkage between the steering column and the outside of the transmission.
Make sure the shifter handle is fully engaged in park. On my '92 caravan, I have to push the shifter up and forward again after putting it in park, to make sure it's fully in park. My ignition switch won't turn off all the way or door locks work until I do that. Also, you might have a loose shifter mechanism...jiggle it while turning the ignition switch at the same time.
Check the neutral safety switch on the shifter. If you place the shifter into neutral or push the shifter harder into the park position, this may change the switch position to allow it to start. There is a recall on the grand Cherokees for this switch.AnswerCheck the battery, i had the same problem once and it turned out to be one of the cells in my battery had gone bad
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