About triangle of death light

What is your question?

I was driving last night, and was getting ready to park when the triangle light came on, the car still starts, when I put it in park or reverse while it is running, the light goes out. But the second I put it in drive, at the time the light reappears , there is also a message that is displayed on my little monitor screen, that says Caution, and says something about putting it in park .it is a 2008 with only 30,000 original miles on it. Can you possibly help is it safe to drive it to a shop ?

What makes this problem better or worse?

Not putting it in drive

How long has your 2008 Toyota Prius had this problem?

I day