You need to make adjustments of the shift cable on the transmission itself.
The steps to do this can be found in the service manual for this vehicle. I would strongly recommend that you have a certified technician perform this adjustment.
Unless you are confident that this is your problem, adjusting the cable may not help.
You should get a diagnosis of your problem.
〉 Answered on Apr 30th, 2007 by Lori Johnson, Owner and Instructor at Ladies Start Your Engines