ABS, VSC, and Trac Off lights are on, won't go into gear

The brake light switch is up the arm of the brake pedal. There are two switches - an ABS brake light switch and a conventional brake light switch. The warning lights will come on when one of the switches has failed. The ABS system is seeking redundant activation of both switches to make sure the system is working properly and prevent erroneous activation of the ABS system. I would check the brake light switch and wiring connector first. It may or may not need replaced. Based on your circumstances, there may be more to it than just a suddenly faulty switch.