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2005 Dodge Durango - how to get moving again?

My dodge durago 05 near the 4 wheel drive knob is a liitle yellow light that is lit and says my trans is in nutral so my shifter when put into drive the truck dont move and when u put it back in park theres a grinding. any one out there know what to do to get it to drive again

The transfer case is in neutral, you need to select 2WD or 4 wheel high to drive the vehicle.

Start the engine, put transmission in neutral
Turn knob to AWD, then you should be able to the transmission in to drive or reverse
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The grinding indicates, to me, the transfer case is attempting to change modes. Could be electrical, could be mechanical.