Welcome to the forum!
Your symptoms sound very similar to ones listed numerous times by others on the forum. Typically, a new Transmission Range Sensor (TRS) fixes the issue just as tripletdaddy suggests.
Try using the "Search this forum" feature from the Taurus forum main page for "range sensor" keywords and see how your symptoms compare.
Many of the issues these cars have have been addressed at one time or another. Like the AF Guidelines suggest, please try the search feature before starting a new thread as multiple threads on the same topic clutter up the forum and ultimately make the search feature less effective.
-Rod