There is a plastic linkage that is broken in your shifter. You can pull straight up on the shifter handle and it will come off. It will be difficult at first, but just pull harder and the handle will come off. There is a plastic rod sticking up and if you pull on it , you should be able to remove it. You can actually drive it by pushing down on the rod and shifting the Jeep. Many people repair this by using a chopstick. Cut it to same size as the plastic linkage and put the handle back on. Drive as you always have and carry an extra chopstick with you just in case... It will take some refining of the shape, but you will get out eventually. Good luck, but you will be driving in 5 minutes, if you just pull off that handle.