While in drive gear, my car does not drive, while in park it will roll.?

1997 Chrysler Town & Country, I was driving it perfectly fine, I parked and when I started to drive again; the steering wheel started jumping back and forth a clicking sound was being produced. It stopped and was going fine, and I turned the corner then suddenly the speedometer jumped to 80 mph, and the car was not driving forward and was making a click-sc noise and so I put the brakes on and stopped, and when I put it park it continued to roll so I had to put the emergence brake on to keep it from moving. I think it is a transmission problem, any ideas? any idea how much it may cost to fix it?