Transmission gets stuck in a gear

It drives fine, the electronic stability control light comes on while driving. If I try to put in reverse to park it will not move out of drive. I have been lucky and been able to pull into a parking space. Then I can't get it in park. After several minutes of wiggling and pushing the gear back and forth, I get it in neutral I turn the car off then start it back up and put it in park. This has happened 3 times today. I was trapped in my in garage for about 5 minutes because it wouldn't go out of drive.