all wheel drive is hopping on pavment like its in four wheel drive on sharp turns

[kenevile333]

My 1999 ford explorer has auto drive fourwheel high and four wheel low. Its in auto which should be in 2 wheel drive most of the time unless the car needs traction then 4X4 kicks in. However it seems to be stuck in four wheel high even though the lights and switch indicate its in auto. When you make a sharp turn you can feel that it is in four wheel drive. If you have any ideas of how to get it out or how to fix it your information would be greatly apretiated.