It is a problem in the shifter mechanism.

The shifter has an electrical switch which prevents starting the engine in any except Drive and Nuetral.

The solution may be a simple adjustment. Does it start in Drive if you wiggle or push/pull the shifter a little toward the next gear? If so an adjustment may solve it.

Otherwise the switch could be replaced.

Or just put the brake on, pull it into Nuetral to start the engine.