Hi. Try pulling the stick down to 1st (with foot on brake and tow haul button depressed. Don't let it go yet) then move the stick up into 2nd and then to Drive. Does it work now?
Seems to be a loose connection in the wiring at the base steering column
If you have a rubber boot around the gear shift. Take a peek inside, you may be able to get to the wires, a contact spray may work.