The car will not shift into overdrive it will only go as far as third gear, on 2000 Audi A6 Quattro

The car will not move until the light on the gearshift goes out and sometimes you have to wait and the car will go into gear slowly and then move better after it gets going

Asked by for the 2000 Audi A6 Quattro
Mine did that. disconnect battery for 10 min. worked fine.