Basically have to force it into drive. Rocking the car from behind with help. Currently have it parked in Neutral with parking break on.

Any Ideas?

99 4Runner 4-wheel drive

 

This most likely has to do with the gear shift solenoid. When you press on the brake pedal, you should hear a click near the shifter. If not, The plastic cover around the shifter should come off. a large brown cable runs to the shifter. Check its connection. If all fails, i've heard of a shift override on the right portion of the shifter that can be depressed to shift no matter what.

 

maybe the brake switch is dead? step on the brake pedal and ask someone to check if the brake lights light up.

 

Neutral safety switch.