1998 Ford Expedition stuck in 4WD

We put our boat in last night, but when my husband drove up to park the car, it got stuck in 4WD Lo and we can’t get it out… Any suggestions?

The driveline is probably binding from doing turns on asphalt. You need to drive forward and backward a few times in a straight line to relieve some of the binding in the driveline. Even better if you can do it in an area of low traction: dirt road or sand on the road.