Drive and reverse do not engage

I bought the truck listed above 1500 Club cab short bed. I knew that it had transmission problems when I bought it the man said that he purchased it from an elderly couple who had to overfill the transmission fluid almost a whole gallon the linkage is messed up on the gear shift and when you try to put it in park it just makes this horrible grinding noise. So, I have to turn the engine off and put on the e-brake because it won't engage in park. It drove a very small distance right after I bought it but when I put it in gear in any position there is no movement or sound of engaging at all. Do you have any idea what it could be? Also, I think it's stuck in 4-wheel drive. The engine runs great and has 166,000 miles on it. Recently my friend was able to get reverse and drive to work but it didn't go very far and it sounded horrible. I don't know what he did to get it to work, but I can ask VIN#1B7HF13Y21J276619?