That problem almost immediately leads me to believe that you have transfer case issues. But first I would check the shifting linkage and make sure that you aren't just stuck due to normal wear.
check vaccum lines on differential or by shift linkage
The 2001 Rubicon is FULL time 4x4 from factory. Unless you installed a 2x4/4x4 select then it should always be in 4wheel drive.
2002 ranger wont go in 4wheel
You need to have your transfer case checked out by a certified mechanic.
If the transfur case is still in real good shape, Then you can shift it on the go to high only. That's the way factory made it. To shift to 4 low you must be stoped.
replace the shift cable
cuz it wont silly!
My car will shift when i first go but wont shift after that help
1994 mark viii wont shift into 3rd
My 1998 Nissan sentra wony shift into high gear
no it wont its not stick it has to be quick shift so you can be able to do that!
95 mitsubishi montero sr wont shift to overdrive why