1997 Isuzu Trooper

Transmission problem
1997 Isuzu Trooper 6 cyl Four Wheel Drive Automatic 146500 miles

I have a 97' Isuzu Trooper and after putting it into 4 high it would slip out while cornering and didn't want to go back into 2 wheel drive. After I came to a complete stop I was able to shift into two wheel drive. Now though, when I come to a stop my trooper will slip out of two wheel and grind the gears. Does anyone know what is going on so that I can find out what parts to replace?
November 6, 2010.

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