My 2003 crown vic came out of gear while driving and won't go back into any gear.

Was driving down the road around 35 and the car just came out of gear and rolled to a stop. I tried to engage it back into any gear including reverse, and it would not engage. Engine turns over fine. Brake light came on the other day and I was going into the shop next week to get it looked at. My wife said she heard some noise in the back left prior to all this happening. No other lights were on.