ABS and Trac Off lights on when shifting

This is for a 2001 Grand Prix SE.

Almost every time I shift from Reverse to Drive(automatic Transmission) my Trac Off light turns itself on, followed shortly by the ABS light(signifying that both are disabled?). I can turn the lights off by restarting the engine and just going into drive(i generally coast in neutral and restart that way). I have no problems when i can start my car and just go straight to drive.

Any help would be greatly appreciated!

Thanks

Sounds like you have a bad neutral safety switch, and it's sticking in the reverse position. When you shift to drive, the computer still thinks you're in reverse, and wheel speed sensors are signaling forward motion, causing your trac off and ABS lights to trip.