Car didn't move when put in drive & then car wouldn't turn over when restarting on 2005 Jaguar S-Type

I started my car and put it in drive and pressed on gas but the car didn't move. I put the car in park, turned it off and tried to restart. However, the car accessory lights came on but when I moved the key to III, the car didn't start. It wasn't as of the battery was dead because all of the accessories came on. It just appears that the car was in gear and would engage while trying to restart.

Asked by for the 2005 Jaguar S-Type