when i start my car i cant put it into gear unless i rock my car then it pops in on 1999 Ford Taurus

the car runs fine. no check lights are on. it just wont let me move it into gear unless i wiggle the steering wheel or gently rock my car.

Asked by for the 1999 Ford Taurus
You mean it wont come out of park until you do this?? More info.
Yes I can't take it out of park until I do those things but once I get it out of park it works fine until I put it back into park.
See if brake lights work properly, had some brk. light switch/connector problems on this vehicle as you have to apply brake to remove lever from park. Possible shift cable problem but i say switch.