After idling in park for several minutes, upon shifting to drive, all warning lights turn on

An infrequent problem. After idling in park for several minutes, upon shifting to drive, all warning lights come on, the van does not go into gear, the accelerator pedal does not work-the engine just idles. After turning the ignition off and waiting for several minutes, a restart is perfectly normal with all warning lights off except ABS, which goes off after sever minutes of driving. Could this be a faulty computer, wiring or one or two sensors or modules?