Car engine revs and rpms climb but car will not go forward or reverse when shift

What is your question?

Car made a clank sound (just once) at a stoplight when I pressed on the accelerator, the RPMs would climb, but the car will not propel forward or reverse. Transmission fluid is full, no metal flakes in it. Also make a terrible grinding sound when it's shifted into park.

What makes this problem better or worse?

I have not tried anything to set it off

How long has your 1997 Lexus ES300 had this problem?

A week