I have a 2006 s-type and this morning when I was revesing into a parking space at work it got stuck there, I attempted to turn the car off and on but of course it won't being stuck in reverese. The gear shift is in park but the R is lit up on the gear panel. what do I do?

 

Chances are it's the shifter cable's bolts on the side of the trans. Access is only from under the car. The bolts can work loose or even fall out. You may find one or both on the ground!

Not sure if there are pics in the How Tos?

 

That's exactly what it is. Same thing happened to me not to long ago. Takes 10 mins to fix or less.

 

A fellow forum member talks about the bolts in this video:

 

2005 S-Type Jaguar--Stuck In Reverse--What do I do

 

Follow the advice above.

 

Then when you have it fixed don't forget the intro in the new members section