Red warning move transmission lever to park


Today I was putting my 2006 CL500 into the garage when I got a red warning message "move transmission level to park". The transmission shifts into Drive and reverse and car moves (Did not take out on the street). Has anyone seen this? Not sure if the car is safe to drive to the shop to have it checked, or need to have it towed. If transmission is put into park warning will go away but comes back if taken out of park.
Thanks for any help. The car only has 7800 miles so the transmission should not have gone bad.
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