4 wheel drive, doesnt shift back, sticks

My 02 Dak 4x4, club cab doesnt always shift back to normal after being in 4 wheel drive. I found that after I jack it up and then put it down that it seems to return ok. what is wrong? Can you help? thanks

Shift lever is froze right up,has to come out and clean it up inside the bushing.This is a very commmon problem due to not being used a lot.