It sounds like the shift lever has come disconnected from the cable that goes from it to the transmission itself, which I've seen happen before on MPV's. In my experience, one or more of the bolts that generally hold a bracket connected to the end of the shift lever assembly has either come loose or fallen out completely, allowing the ball-and-socket style joint between the shift lever and shift cable to separate.
The first thing I would do is start tearing that dashboard apart - most of it's going to have to come apart before you'll be able to clearly see what i'm talking about, especially since the bolts i'm referring to should be buried behind & underneath the instrument cluster, with the bolt heads facing the firewall. They're ususally easist to reach from below, and have a torx head on them to the best of my recollection. If it turns out they need tightening, a bit of threadlock should help the problem from reoccurring.
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