1998 Mercedes Benz 320e

Transmission problem
1998 Mercedes Benz 320e 6 cyl Two Wheel Drive Automatic 169000 miles

My transmission will go into reverse or neutral, but when I put it into drive, it will not come out of second gear. I read my owner's manual about the transmission in " Limp Mode". The check engine light is on, and I was wondering if this is a mechanical problem that can be fixed by fluid levels, or changing out a sensor and if so, What would be the average cost to repair a transmission requiring this type of work. Thanks.
August 3, 2010.

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