2003 Jeep Liberty drivetrain & axles problems

Applied brakes to stop vehicle, put transmission into park, turned key off, removed key, opened driver door, took foot of brake pedal, exited vehicle,started to walk behind vehicle, noticed vehicle drifting towards me, opened driver door, attempted to jump in to apply brakes, tumbled halfway out of vehicle (strained neck and knee), pulled myself in by the steering wheel, applied brake as vehicle hit parked pickup truck, started vehicle, moved back into previous parking space, applied brakes, put transmission into…

Vehicle will not move in any direction except reverse. We drove to a store and when reversing out of parking spot, the vehicle seized in reverse and wouldn't shift to drive initially. We managed to drive home and pulled into driveway. When we went into reverse to adjust vehicle position, it wouldn't move when we shifted to drive. We had to drive car in reverse around our loop in order to park car. We just had to have car towed to repair shop and are now waiting to find out cost to repair.