How do I put my 2001 ford escape back in gear manually?

It sounds as if (same thing happened to me) the shift linkage END that attaches directly to the transmission has came off. There is a "plastic connector" that holds it to the arm that does the shifting located on the TOP of the transmission on the drivers side. You will need someone to hold in the brake(to be able to release the safety interlock) while you manually either pull the lever that shifts the transmission towards you or push it away from you .. depending what gear it is physically in. I believe that when putting it in "park P" it will move the lever AWAY from the transmission. This plastic piece that has broken and allowed the linkage to pop off is readily available at a Ford dealership. BUY NEW .. as all the rest you might find elsewhere that are USED will be worn if not broken already. Good Luck brother.

FOLLOW THE SHIFT CABLE FROM THE STEERING COLUMN(THICK BLACK CABLE) THROUGH THE FIREWALL.IT LEADS TO A PLASTIC CYLINDER SHAPED BRACKET IN THE ENGINE BAY, THE CABLE GOSE RIGHT THROUGH THE PLASTIC CYLINDER. ON THE OTHER SIDE IS THE CABLE END. WHERE YOU WILL FIND A PLASTIC CONNECTOR(O-SHAPE)ON THE CABLE END.ABOUT 1" AWAY TO THE LEFT IS WHERE THE CABLE CONNECTS! PUSH THE O-SHAPED CABLE END ONTO THE LITTLE NIPPLE MADE OF ALUMINUM. THIS WILL ALLOW THE LEVER TO SHIFT.. AGAIN...