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Question: 1999 Jeep Grand Cherokee (In-line 6) WILL NOT CRANK

Hello! I have a 99 Jeep Grand Cherokee. This evening I pulled into a driveway...I stopped briefly WITH THE CAR STILL RUNNING AND IN DRIVE to see how much room I had to pull up further... I let off the brake a little and the car actually slid backwards!!! I checked to see if I moved the shifter into reverse by accident but I didn't. The car was still in drive. I had all power. All the gauges were lit. So, I put the car in park and turned off the key and tried starting the car again. Well, I had no luck. When I crank it all my gauges light up and move but the car wont turn over. No sound. Nothing. Hell, a neighbor and I can actually push the car forward and backward while the car is in PARK. The transmission does not seem to engaging in something??? Ive read alot of things and people talk about the starter... however, I am confused and dont believe it would be such a thing given the Jeep did this when the vehicle was still running initially. Would a started cause this to happen even when the car was running (when my foot was on the brake), although the Jeep was not moving? Thanks!!!