Car in Drive and both reverse lights turn on.

Hello, This is likely a failure of the reverse light switch. It will be located on/in the transmission, or at the gear selector. You will need diagnostics performed, as this may also be a problem with the circuit between the selector and the transmission. See about a Jaguar independent shop to cut down on diagnostic time. http://repairpal.com/jaguar-within-10-miles-of-new-york-new-york-10010