I've seen your thread on the other forum. That plus the term "drive" gives the nod towards this being an auto, but scooter does bring up a point just for your future endeavors and that is to provide sufficient details upfront in order to minimize guesswork and confusion. These rigs aren't identical and details matter.
Obviously, you are able to start the engine and realize some rig movement, albeit incorrect. So lets begin with starter engagement. When everything is as is should be on an auto-equipped Scout, the starter can only be engaged when the gear selector is in park or neutral positions. So I want you to verify that this is the case with your Scout. If you can get your starter to engage in any other position besides those two, that's a problem.
The next critical step is to correctly determine if the fluid level is within the safe range. There is a specific procedure for doing this. The engine/trans should first be brought to normal operating temperature, which can take as much as 20 minutes of run time to achieve. Next, the rig should be parked on level ground. The gear selector should be slowly cycled through each gear position from p to 1 and back to p again. Then the park brake should be firmly applied and/or wheels blocked to prevent rolling. The engine should be idling at approximately 725 rpms while in park. The gear selector should then be moved to n or neutral position. At this point, you are now ready to pull the trans dipstick, wipe it clean, re-insert and withdraw for a reading. The fluid level should be within the safe range. A reading outside the range in either direction can create erratic trans behavior. The fluid should be bright red in color and not smell burnt or appear frothy, so make note of what you see and smell.
If all the above checks out, the next step is a visual inspection of the shifter linkage movement in relation to gear selector movement. This will require two people. One will need to be under the rig with a good light source trained on the shifter linkage. Once again, take safety precautions to prevent rolling. The engine should be off. What we're looking for is equal travel between the shifter and the linkage. First off, while the selector is all the way forward in p, have the person under the rig make sure by applying pressure to the linkage, that it cannot be moved any further towards the rear of the rig. Then move the gear selector slowly one position at a time towards 1. Have the person underneath listen for the slight click made by each detent position as it is engaged. When position 1 is engaged, have the person underneath apply pressure to the linkage to ensure that it cannot be moved any further forward by hand. If any slop is encountered, the shifter cable will need to be adjusted to allow for full linkage travel.
Bear in mind, the above topics are the only simple external measures that can be addressed. They undoubtedly need to be verified. You should prepare yourself mentally for the strong likelihood of some internal component failure that could range from a valve body malfunction all the way up to needing a complete overhaul. You have your homework assignment. Work through these steps and report back with specific results for each.