from drive(autmat) went to put car in P but will only goto N will not R or P

If you go to www.getwrench.com you can sign up for a free diagnostic visit from a Wrench ASE certified mechanic. If it is simple they'll fix it for you on the spot. If not they'll schedule it with in a day or two, get the parts and come back and fix it. More convenient and way cheaper than the dealer.