Reverse is usually the first to go, followed by first gear. Time for a transmission rebuild.
There can be several things that will an automatic transmission not to work properly. The most common cause is a lack of transmission fluid. Broken shifting linkage can also cause the problem.
clutch plates could be welded to gather
Sounds like the transmission
The A4LD transmission is the most common failure on early explorers. It's very likely that your transmission is failing.
If you have an automatic transmission then either the linkage is fouled up or you got a internal problem. That's 100 vrs about 3000 dollars.
Check the transmission fluid level.
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.
You need a good tranny shop. There is something major wrong inside.
Your transmission needs to be rebuilt ... although - once - I "fixed" that problem by draining & refilling my trany.
Assuming automatic transmission, brake bands need adjustment/replacement
Most likely worn engine mounts or transmission mount.
he tansmission is gonne and needs to be replaced