2004 toyota sienna - no power

I recently warmed-up the van on a cold -15 degree morning for 15 min. I turned it off for 20 min. then re-started it. It started but no power to the heater, wipers, blinkers, ABS dashlights and check engine light was on, and would not go into gear. I forced the shifter into drive, drove it for about 10 minutes and then all power came back on. The check engine light stayed on for about a day. It has been about a week and the symptoms have not returned. What could of happened?