2008 Lexus ES 350 is rolling backards while in drive. Check engine VCS lights on

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While in park with the emergency brake down the car sounds fine when u crank it up an it's running. When u release the emergency brake while in park it rolls backwards and the regular brakes want stop it either. When I shift to drive and try to accelerate it want go forward; it rolls backwards & the regular brakes want stop it. While in drive it's making a loud clunking straining grinding scraping like noise from under the hood. Noise coming from passenger side, I think? Nothing appears wrong from under the car. VCS, traction, check engine light all on. Prior to all this happening, the oil change indicator had been on. This just happened while I was driving home. Left car parked. Car will not drive forward at all, just keep rolling backards except when the emergency brake is down and then the noise goes away too. Please help me! What can be wrong? What is the repair cost